DE202019107044U1 - Hand-held device for training at least one movement and at least one activity of a machine, and a system - Google Patents

Abstract

Hand-held device (100) for training at least one movement and at least one activity of a machine (114), the hand-held device (100) having:
• a handle (104);
• an input unit (108) configured to input activation information for activating the training of the machine (114);
• an output unit (110) configured to output the activation information for activating the training of the machine (114) to a device external to the hand-held device;
• a coupling structure (102) for releasably coupling an interchangeable attachment (210) which is set up according to the at least one activity; and
A control device which is set up to determine spatial information by means of a sensor of the hand-held device (100).

Description

Various exemplary embodiments relate to a hand-held device for training at least one movement and at least one activity of a machine, and a corresponding system.

Both the programming of an industrial robot and the programming of the associated system control and / or tooling (also referred to as “tooling”) is conventionally dependent on the manufacturer and the robot. Programming is usually done in the form of program code by one or more specially trained experts. This is currently still the case for more than 96% of the applications. A programmer manually writes the program code that allows the robot to carry out the activity autonomously. Programming is therefore time-consuming and expensive, especially for a railway-based or punk-based application (e.g. welding, gluing, painting).

The costs make automation by means of an industrial robot (also referred to as a robot) economically unattractive for small and medium-sized companies, since they usually do not produce large quantities with low production variability, which could outweigh the costs. The same applies to other types of robots. For large companies, on the other hand, the lack of flexibility in programming can be unattractive. Retrofitting the programming is time-consuming, which results in shorter and uneconomical production cycles.

The complexity of the programming increases due to the integration of the industrial robot with its diverse components, such as an end effector (e.g. a glue gun), a sensor system (e.g. a camera) and a control system (e.g. a programmable logic controller - PLC).

The programming of an industrial robot can alternatively or additionally be carried out by the expert using CAD-based code generation. A virtual representation of reality (also referred to as a virtual world) is created and the robot is programmed in the virtual world. In addition to the simulation, this also enables easier accessibility. However, this CAD-based code generation cannot easily be implemented by a technical layperson. In addition, the virtual world often deviates significantly from reality. Even small deviations can lead to considerable discrepancies in the way the robot works in reality. For this reason, the program code that is generated by means of the code generation is usually also adapted by a programmer.

As an alternative to completely manual programming, a learning process (also referred to as training) is conventionally used.

For the learning process, the robot can be controlled manually, for example. A sensitive robot (also referred to as a co-bot) can also be hand-operated, for example. With both mechanisms, the trajectory (i.e. the path on which the robot should move) can be shown. Activities that go beyond the trajectory and which the robot is supposed to carry out, however, remain complex and are therefore conventionally not taken into account by the learning process. The complexity consists, for example, in the integration of the various components of the robot, such as the end effector, the sensors and the control system, into the process to be carried out, which must therefore be programmed manually.

The learning process can alternatively or additionally take place via an interactive input device. A manufacturer-specific input device, such as a 6d mouse, is conventionally used for this purpose. Analogous to manual control or hand-guided control, only the trajectory can be learned in this case. The various components of the robot are therefore integrated manually via programming.

The learning process can alternatively or additionally take place by means of sensor data processing. For this purpose, various extensions are provided for the end effector of a robot equipped for this purpose, which integrate a sensor system (e.g. a camera) directly into the robot controller. Due to the technical limitations, this has so far only been applicable for one assembly application (also referred to as pick-and-place applications).

In general, there is traditionally always some manual programming involved. Therefore, these conventional methods have in common that the implementation cannot be carried out completely by a technical layperson if the manual programming part goes beyond his or her abilities. This is due to the fact that the overall application is an interplay of diverse sub-problems (such as the trajectory, the end effector control, the sensor data processing and the integration into the process control). Simple teaching methods therefore concentrate on the specification of the trajectory or the recording of path points. The learning process with sensor data processing is based on sensors that are attached directly to the robot. However, the field of vision is often restricted by the end effector and robot. They also affect changing Light conditions or air particles (e.g. when painting) the sensors on the robot.

According to various embodiments, a hand-held device for training at least one movement and at least one activity of a machine, a corresponding system and a corresponding method are provided which facilitate the automation of a process sequence (e.g. one or more than one activity thereof).

According to various embodiments, a hand-held device for training at least one movement and at least one activity (also referred to as process activity) of a machine can have: a handle; an input unit configured to input activation information for activating the training of the machine; an output unit configured to output the activation information for activating the training of the machine to a device external to the hand-held device; and a (e.g. frontal) coupling structure for releasably coupling an interchangeable attachment which is set up in accordance with the at least one activity.

• 1 ein Handgerät gemäß verschiedenen Ausführungsformen in einer schematischen Seitenansicht oder Querschnittsansicht;
• 2, 5, 7 bis 9 jeweils ein System gemäß verschiedenen Ausführungsformen in verschiedenen schematischen Ansichten;
• 3 und 4 jeweils ein Verfahren gemäß verschiedenen Ausführungsformen in verschiedenen schematischen Ansichten;
• 6 eine Maschine gemäß verschiedenen Ausführungsformen in einem schematischen Aufbaudiagram;
• 10 ein Handgerät gemäß verschiedenen Ausführungsformen in einem schematischen Aufbaudiagram;
• 11 ein Verfahren gemäß verschiedenen Ausführungsformen in einen schematischen Ablaufdiagramm;
• 12 ein System in einem Verfahren gemäß verschiedenen Ausführungsformen in einen Kommunikationsdiagram; und
• 13 einen Trajektorie-Ermittlungsmechanismus des Systems in einem schematischen Kommunikationsdiagram.

Show it

• 1 a hand-held device according to various embodiments in a schematic side view or cross-sectional view;
• 2 , 5 , 7th to 9 each a system according to different embodiments in different schematic views;
• 3 and 4th each a method according to various embodiments in various schematic views;
• 6th a machine according to various embodiments in a schematic structure diagram;
• 10 a hand-held device according to various embodiments in a schematic structure diagram;
• 11 a method according to various embodiments in a schematic flowchart;
• 12th a system in a method according to various embodiments in a communication diagram; and
• 13th a trajectory determination mechanism of the system in a schematic communication diagram.

In the following detailed description, reference is made to the accompanying drawings, which form a part hereof, and in which there is shown, for purposes of illustration, specific embodiments in which the invention may be practiced. In this regard, directional terminology such as "top", "bottom", "front", "back", "front", "back", etc. is used with reference to the orientation of the character (s) being described. Because components of embodiments can be positioned in a number of different orientations, the directional terminology is used for purposes of illustration and is in no way limiting. It goes without saying that other embodiments can be used and structural or logical changes can be made without departing from the scope of protection of the present invention. It goes without saying that the features of the various exemplary embodiments described herein can be combined with one another, unless specifically stated otherwise. The following detailed description is therefore not to be taken in a limiting sense, and the scope of the present invention is defined by the appended claims.

In the context of this description, the terms “connected”, “connected” and “coupled” are used to describe both a direct and an indirect connection (e.g. ohmic and / or electrically conductive, e.g. an electrically conductive connection), a direct or indirect connection as well as a direct or indirect coupling. In the figures, identical or similar elements are provided with identical reference symbols, insofar as this is appropriate.

According to various embodiments, the term “coupled” or “coupling” can be understood in the sense of a (e.g. mechanical, hydrostatic, thermal and / or electrical), e.g. direct or indirect, connection and / or interaction. Several elements can, for example, be coupled to one another along an interaction chain, along which the interaction (e.g. a signal) can be transmitted. For example, two elements that are coupled to one another can exchange an interaction with one another, e.g. a mechanical, hydrostatic, thermal and / or electrical interaction. According to various embodiments, “coupled” can be understood in the sense of a mechanical (e.g. physical or physical) coupling, e.g. by means of direct physical contact. A clutch can be set up to transmit a mechanical interaction (e.g. force, torque, etc.).

A network described herein can, for example, differentiated according to range, a local area network (for example a Local Area Network (LAN), a Wireless LAN (WLAN), or a Personal Area Network (PAN), such as a wireless PAN (WPAN), such as e.g. a bluetooth network) or a non-local network (such as a Metropolitan Area Network (MAN), a Wide Area Network (WAN) or a Global Area Network (GAN)) or be formed from it. The network can have, for example, a radio network (for example mobile radio network) or a wired network, or be formed therefrom, differentiated according to the type of transmission. The network can, for example, also have a cellular radio network (for example a WLAN of the IEEE 802.11 type in ad-hoc mode, a Bluetooth network or another cellular mobile radio network) or be formed therefrom. The network can also have several interconnected sub-networks of different types.

The transmission of information (information transmission) can take place according to various embodiments according to a communication protocol (KP). The transmission of information can comprise generating and / or transmitting a message which contains the information in accordance with the communication protocol. The communication protocol can clearly designate an agreement according to which the transfer of information between two or more parties takes place. In its simplest form, the communication protocol can be defined as a set of rules that define the syntax, semantics and synchronization of information transfer. The communication protocol (s) used (e.g. one or more network protocols) can in principle be selected as desired and can (but do not have to) be configured according to the OSI (Open System Interconnect) reference model. Any protocols can also be used in the respective protocol layers. For example, the protocols according to Bluetooth or other radio-based communication protocols can be used. For example, the transmission of information by means of Bluetooth herein can include generating and / or transmitting a message that contains the information in accordance with a Bluetooth communication protocol stack. The Bluetooth communication protocol stacks can optionally be set up in accordance with a low-energy communication protocol stack, i.e. the information can be transmitted via low-energy Bluetooth.

Various steps and details of a method are described below. It can be understood that what has been described (e.g. individual steps of the method) can be implemented analogously using hardware (e.g. a hard-wired circuit) and / or software (e.g. code segments or an entire application). For example, an application (also referred to as a program) can be provided which has corresponding code segments (e.g. program code) and which can be or can be executed on a processor and / or by means of a circuit that has the processor. The processor (or the circuit) can be part of a mobile radio device or a computing device, for example. The computing device can, for example, have a multiplicity of processors which are arranged centrally within a physically coherent network or also decentrally connected to one another by means of a (for example cellular or wired) network. In the same way, code segments or the application can be executed on the same processor or parts thereof can be distributed over several processors which communicate with one another by means of the (for example cellular or wired) network.

The term “processor” can be understood as any type of entity that allows the processing of data or signals. For example, the data or signals may be treated according to at least one (i.e., one or more) specific function performed by the processor. A processor can be an analog circuit, a digital circuit, a mixed signal circuit, a logic circuit, a microprocessor, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a programmable gate arrangement (FPGA), a have integrated circuit or any combination thereof or be formed therefrom. Any other type of implementation of the respective functions, which are described in more detail below, can also be understood as a processor or logic circuit, for example also virtual processors (or a virtual machine) or a plurality of decentralized processors that are connected to one another by means of a network, for example are spatially distributed and / or have any share in the implementation of the respective functions (e.g. distribution of computing load among the processors). The same generally applies to a differently implemented logic for implementing the respective functions. It will be understood that one or more of the method steps detailed herein can be performed (e.g., implemented) by a processor through one or more specific functions performed by the processor.

The term “system” can be understood as a set of interacting entities. The set of interacting entities can, for example, have at least one mechanical component, at least one electromechanical transducer (or other types of actuators), at least one electrical component, at least one instruction (e.g. encoded in a storage medium), and / or at least one control device or from it be educated. Several communicatively interconnected entities of the system can be managed, for example, by means of a common system administration of the system. For example, the entities (for example the handheld device and / or a device external to the handheld device) of the system can be or will be registered in the system, for example by means of the system administration.

The term “actuator” (also referred to as an actuator or actuator) can be understood as a component that is set up to influence a mechanism or a process in response to an activation. The actuator can convert instructions issued by the control device (the so-called activation) into mechanical movements or changes in physical quantities such as pressure or temperature. The actuator, for example an electromechanical converter, can be set up, for example, to convert electrical energy into mechanical energy (e.g. by movement) in response to an activation.

The term “control device” can be understood as any type of logic-implementing entity that can, for example, have an interconnection and / or a processor that can execute software that is stored in a storage medium, in firmware or in a combination thereof, and can issue instructions based on it. The control device can for example be configured by means of code segments (e.g. software) in order to control the operation of a system (e.g. its operating point), e.g. a machine or a plant, e.g. at least its kinematic chain. The operating point can describe the point in the characteristics map or on the characteristic curve of a technical device that is assumed due to the system properties and external influences and parameters of the device. The operating point can clearly describe the operating status (i.e. actual status) of the device. The working point must be differentiated from the place of work (i.e. the spatial location at which, for example, the effect of the machine occurs).

Controlling can be understood as an intentional influencing of a system. The state of the system can be changed according to a specification using an actuator. Regulation can be understood as controlling, whereby a change in the state of the system due to disturbances is also counteracted. The controller can clearly have a forward-facing control path and thus clearly implement a sequence control which converts an input variable into an output variable. The control path can, however, also be part of a control loop, so that regulation is implemented. In contrast to the pure forward sequence control, the regulation has a continuous influence of the output variable on the input variable, which is effected by the control loop (feedback).

Process activity (also referred to as activity) can be understood as the sum of all processes (e.g. a chronological sequence of controlled events) that fulfill a predefined process task. The process activity can optionally be broken down into sub-processes, of which each sub-process takes at least one of the processes into account. A sub-process of the process activity can fulfill a sub-task (i.e. part of the process task) or the entire process task. Depending on the type of process activity, several sub-processes can interlock and / or build on one another, e.g. take place in a strict sequence, and / or be independent of one another, e.g. be interchangeable.

A process (e.g. a grinding process) and a location of the process can clearly be taken into account for each of the sub-processes, which together describe the sub-process. This means that it can be taken into account which action is to be carried out at which point on the workpiece (the so-called work location), e.g. where the workpiece is to be machined and how. To fulfill the process task, the machine can be moved, for example by adjusting the kinematic chain of the machine and / or moving the machine. For example, smaller movements of the machine can also take place in which the position of the end effector and / or the robot arm itself remain stationary and only the tool of the machine is moved. For example, a drill as a tool of the machine can track the progressive material removal at the work site, so that the drill of the machine is moved into the borehole.

For this purpose, at least one vector of the process (e.g. a grinding process) can be assigned to a sub-process. The same can apply analogously to a large number of sub-processes or several processes per sub-process. A vector can generally be understood to be an element of a vector space that does not necessarily have to be only three-dimensional or only three-dimensional. The vector can generally have parameters of a parameter set of the process activity that are assigned to one another, e.g. process parameters, location parameters or input data. The parameters of the parameter set can, however, also be formulated differently than by means of a vector. More generally speaking, what has been described for the vector (or its components) can apply analogously to a more general set of parameters.

The vector can define at least one position, its change, a spatial distribution and / or at least one direction of the process. The spatial information described here in simplified form by means of a vector (eg about the process activity) can also be more complex or detailed and are referred to more generally as spatial information. Optionally, temporal information (for example about the process activity) can be assigned to the spatial information, which, for example, defines the duration, the beginning, the end and / or a cycle of the process. In a simple example, the temporal information can also only arrange the processes chronologically if this is desired.

If the process activity is carried out by a hand-held tool, the process activity can describe the sum of work processes, the spatial information describes the spatial sequence of the work processes and the optional temporal information describes the chronology of the work processes that are carried out by means of the work machine in order to have the corresponding effect on a workpiece to provide the process task. The corresponding spatial information can describe where (i.e. with which spatial distribution) and / or in which direction the effect is to be provided, i.e. in which corresponding spatial position (i.e. position and / or orientation) the implement is located.

This information about the process activity (also referred to as process information), i.e. the type of activity, the spatial information and the optional temporal information, can also be provided and / or recorded by means of the hand-held device described herein. To this end, an interchangeable attachment that is set up according to the type of activity is coupled to the hand-held device. The hand-held device can be hand-operated (i.e. by one person) in a manner analogous to the work device, as if the work process were actually taking place by means of the interchangeable attachment. In contrast to the work device, however, the hand-held device is equipped with electrical components (e.g. sensors, interfaces, transmitters, etc.) that make it possible to record the process information and make it available as training data. The handling of the hand-held device can reflect the way in which the work device is guided and / or actuated when carrying out a process sequence, e.g. how it is held, how strongly pressed, and / or how long a work process is carried out. The training data can be recorded, for example, using a local computer system or in a delocalized manner (e.g. in a cloud).

A model can be understood as a data-based (e.g. digital and / or virtual) representation of an original, e.g. a physical object (e.g. a machine) or a process (e.g. a control process or a process flow). To form the model (the so-called model formation, i.e. the mapping of the original onto the model), the original can be abstracted, parameterized and / or simplified. The model can contain, for example, physical information (e.g. length, distance, weight, volume, composition, etc.), movement-related information (e.g. position, orientation, direction of movement, acceleration, movement speed, etc.), logical information (links, sequence, couplings, interrelationships , Dependencies, etc.), time-related information (e.g. time, total duration, frequency, period duration, etc.) and / or functional information (e.g. current strength, effect, map or characteristic curve, working point space, force, degree of freedom, etc.) about the Exhibit original.

A control model can accordingly designate a formal representation of an automated control. The control model can have a large number of instructions for control (e.g. to bring the machine to a working point) and also criteria, the fulfillment of which triggers, terminates or maintains the instruction assigned to them. Furthermore, the control model can have control logic which logically links several criteria and / or several instructions with one another and / or which implements a sequence (e.g. a flow chart) according to which the control takes place. From the path to the control model, a machine-type-specific model can optionally be determined as an intermediate step, which model represents a machine type (i.e. a type of identical machine). When mapping the machine type-specific model to the control model, type-specific deviations between the machines of a type can be taken into account (also referred to as delta formation).

In an analogous way, a process model can denote a formal representation of a process flow. The process model can have a large number of links between a process activity and the corresponding spatial information and optionally assign corresponding process situations to the process activities which, for example, are present during the process activity, which condition or end it. Furthermore, the process model can have a process logic which logically links several process situations and / or several sub-processes with one another and / or which implements a process (eg a process plan) according to which the process activity takes place. In general, a flow chart can have at least branches, jumps and / or loops. The The presence or absence of a process situation can generally be represented by means of at least one criterion which is fulfilled, for example, in the presence or absence of the process situation.

A mapping can include the transfer of elements of an initial set (also referred to as archetype) into a target set, the elements of the target set then being the image (mapping) of the archetype. The mapping can assign at least one element of the mapping to each element of the original image. The archetype does not necessarily have to have all available elements, but can also be an application-specific selection from them. The mapping can include applying, for example, operators, transformations and / or links to the elements of the initial set. The elements can generally have: logical relationships, links, information, properties, coordinates or the associated coordinate system, mathematical objects (such as formulas or numbers), processes, activities, etc.

A code generator can be understood as a computer program which is set up to convert a model, which is available, for example, in a modeling language, into a programming language, for example the programming language of the control device of the machine. As an alternative or in addition to the modeling language, e.g. a unified modeling language (UML), the model can also be in a markup language, a structogram, a decision table or another formal language. The code generator generates code segments (also referred to as code generation), which can be combined with other optional program parts to form a program.

Spatial position can be understood here as spatial information about an alignment and / or position of an object. The position can clearly describe the location (e.g. a point) in space and the orientation the respective orientation (e.g. a direction) of an object relative to the space. A trajectory can be understood as a series of spatial positions that are occupied by an object one after the other. The spatial position can optionally be time-dependent (i.e. movement-related, then also referred to as movement), according to a timing or speed, so that a movement along the trajectory is taken into account. By analogy, the movement can optionally be time-dependent, so that an acceleration along the trajectory is taken into account. In general, the spatial position or other spatial information in three-dimensional space can be described by means of Cartesian coordinates. However, any other coordinate system can also be used, e.g. cylinder coordinates or the so-called joint space (also referred to as a machine-specific coordinate system), which is suitable for the unambiguous description of the spatial information. The machine-specific coordinate system can be related to the kinematic chain of the machine and can have a dimension for each degree of freedom of the kinematic chain. This makes it possible to show not only the position of the end effector in space but also the state of each link (e.g. joint or other connecting link) of the kinematic chain, so that a more precise control of the machine is made possible. The machine-specific coordinate system can clearly have a large number of nested coordinate systems, of which each of the nested coordinate systems takes into account the degrees of freedom (e.g. up to 6 degrees of freedom, having up to 3 degrees of freedom of rotation and / or up to 3 degrees of translational freedom) of a link in the kinematic chain.

According to various embodiments, a hand-held device (for training at least one movement and at least one activity) of a machine, a corresponding system and a corresponding method are provided which facilitate the teaching (also referred to as training) of a machine. For example, a fully integrated program code can be generated which is set up, when executed by a processor of the machine, to carry out the activity independently by means of the machine. For example, the training (up to the generation of the program code) can take place particularly quickly, e.g. by demonstrating the activity manually (i.e. by a person) using the handheld device. For example, it is easy and quick to switch between different activities, e.g. by replacing the interchangeable attachment coupled to the hand-held device or by changing between the tools of an interchangeable attachment. For example, different types of machines can be taught in using the same system, e.g. by determining a platform-independent process model as an intermediate step. For example, training can be particularly cost-effective, e.g. because fewer programmers are required to create the program code. For example, different interchangeable units can be assigned to the same activity. However, several activities can also be assigned to exactly one interchangeable unit.

According to various embodiments, the handheld device can enable the recording of data representing the movement and / or the at least one activity of the machine freely in space, for example without a (eg physical or virtual) fixed point and / or supporting axes. For example, the hand-held device can be moved freely in space in order to carry out the activity to be learned, for example on a workpiece. This can be achieved, for example, in that the hand-held device is free from suspension (ie storage) on one or more than one physical axis.

This makes it possible to enlarge the training room in which the hand-held device can be moved for training, so that, for example, little or no restriction of the training room (at least by the hand-held device itself) remains. For example, the handheld device can be handled by a person overhead, lying down or in other positions (e.g. only one-handed or two-handed). This makes it easier to use, for example, in built-in work spaces.

For example, the hand-held device can be moved independently of the machine, i.e., for example, it can be free from coupling with the machine (e.g. not coupled to it). A communicative coupling between the machine and the hand-held device can optionally be present, e.g. by means of an exchangeable cable or wireless. As an alternative or in addition, the hand-held device can be free of an articulated coupling or another bearing that is coupled to the machine, for example.

The recording of data which represent the movement and / or the at least one activity of the machine can take place, for example, in a coordinate system that is independent of the machine that is to be trained, for example. The hand-held device and / or its movement or the recording of the data can, for example, be independent of the machine (e.g. its working area, its reference point or machine coordinate system and / or its base). The reference point (also referred to as Tool Center Point, TCP) can be, for example, a permanently defined coordinate in the machine coordinate system.

The system can be used to determine trajectories with any number of waypoints. One or more of the following properties can be parameterized for each waypoint: a type of movement (point-to-point, linear, circular and polynomial), the trajectory, a speed or its change (ie the acceleration), a force (eg its moment, ie a torque), one or more pieces of information about the tool, and / or a blending radius. Alternatively or additionally, one or more than one of the following properties can be or will be parameterized for each waypoint: a status of the function of the interchangeable attachment and / or sensor data (e.g. the interchangeable attachment and / or the hand-held device).

For example, the trajectory can be composed of polynomials piece by piece. The resulting polynomial train can consist, for example, of polynomials at most nth degree, so that a polynomial train of nth degree (also referred to as a spline of nth degree) is provided. The points in the trajectory at which two polynomials adjoin each other (the so-called nodes) can optionally be continuously differentiable (n-1) times. For example, by means of the polynomial train, a point-based trajectory (whose points define the nodes) can be converted into a path-based trajectory by searching for polynomials that connect the points of the point-based trajectory to one another.

Different tool and / or workpiece coordinate systems can be configured. The trajectory can be described, for example, by specifying the waypoints approached one after the other (then also referred to as point-based trajectory), by specifying the trajectory traveled (then also referred to as path-based trajectory) or by means of a mixture of these data.

The point-based trajectory can, for example, leave open the way in which the waypoints are taken one after the other, i.e. it can leave the determination of the specific trajectory that connects the waypoints to the control device or the possibilities of the machine. The point-based trajectory is suitable, for example, when the activity has discrete work steps at discrete locations (for example pick-and-place).

The path-based trajectory enables a one-to-one waypoint-point in time assignment and thus describes in detail which waypoint is taken at which point in time. The path-based trajectory is suitable, for example, when the activity is to take place along a certain path or at a certain speed (for example, the distribution of glue or painting).

According to various embodiments, the machine is trained using the training data. The training data can be recorded for this purpose. For example, the recording of the training data can be started by entering the activation information. In principle, however, data can also be recorded before the actual training, for example as soon as the hand-held device is switched on and / or registered in the system. In that case the activation information can indicate which part of the recorded data is used as training data. In other words, those data that are used as training data can be filtered out of the recorded data by means of the activation information (eg time-resolved). For this purpose, the activation information can have a time stamp, for example, which is compared with the time-dependent recording of the data. Alternatively, the recorded data can also be filtered after the recording has ended, for example manually using a graphical representation of the recorded data. In that case, those data can be marked by the user by means of the activation information which are to be supplied as training data for training the machine (for example a start and an end of a data sequence). In an analogous manner, further data can be added to the already existing training data or parts can be removed from the already existing training data. The filtering can take place, for example, by means of a device external to the handheld device.

The filtering out of the training data (also referred to as filtering for short) can include, for example, playing back the entire recorded movement sequence with the aid of the device external to the hand-held device and examining its movements. The recorded movement sequence can be played back by means of the physical robot and / or by means of a virtual representation of the robot. The recorded data can, for example, be played back once or more than once on the robot by means of remote access (e.g. an application program such as an iOS application) and the movements can be examined. Individual points in space, so-called keyframes, which are to be retained as training data, can be marked in the data and, if necessary, fine-tuned, e.g. using functions in the various coordinate systems. Additionally or alternatively, machine learning and mathematical optimizations can be used to predict and filter markable points and / or all or part of the entire data used for training. The filtering can include, for example, taking into account anomalies, movement quality and expressiveness, redundant information and / or data reduction.

Additionally or alternatively, the type of movement of the robot (also referred to as type of movement) can be defined between two points, for example point-to-point, linear or semicircle movement type. The filtering can be repeated one or more than once using information provided by the user, e.g. until the data to be used for training has been determined.

The sum of all marked points (keyframes) of the recorded movement sequence and its type of movement can be used as training data or at least as part of it. Optionally, the marked points can be moved Cartesian in space and / or the end effector of the robot can be rotated around such a point.

Examples for filtering or for components of filtering can thus include: determining and removing anomalies from the training data, smoothing the training data (e.g. to improve the quality of movement and its expressiveness), determining and removing redundant parts of the training data (which, for example, are identical are or at least offer hardly any added value), data reduction while preserving the content.

As an alternative or in addition to filtering, parts of the training data can be grouped, e.g. as a representation of individual operations or activities of the more complex overall process.

1 illustrates a handheld device 100 according to various embodiments in a schematic side view or cross-sectional view. The handheld device 100 can have a longitudinal extension 101 (Extension in the longitudinal direction 711a), for example in a range from approximately 10 cm (centimeters) to approximately 50 cm, for example in a range from approximately 15 cm to approximately 30 cm. The hand-held device can 100 from two end faces 101a , 101b be limited, of which a first end face 101a the coupling structure 102 having. The coupling structure 102 (eg a coupling mechanism) can be set up for the detachable coupling of an interchangeable attachment, as will be described in more detail later.

The handle 104 may differ from the coupling structure 102 extend away along the longitudinal direction 711a. The handle 104 can for example be ergonomically shaped, for example rounded, tapered and / or otherwise adapted to the shape of a hand. In general, the handle can 104 be arranged to be grasped and / or held by one or more than one hand of a user. For example, different embodiments do not necessarily have to have a separate handle (extra handle), but can have this integrated. This can be done with the handle 104 for example a longitudinal extension 101 which is, for example, in a range from about 5 cm (centimeters) to about 30 cm, for example in a range from about 10 cm to about 20 cm. Alternatively or additionally, the handle 104 a perimeter (e.g. along a self-contained path that runs transverse to the longitudinal direction 711a), which is in a range of about 10 cm to about 30 cm.

The handle 104 can also be different relative to the coupling structure 102 be aligned, for example extending obliquely to the coupling direction, so that the hand-held device 100 is angled. This can be more intuitive for some activities. The one herein for the elongated handheld device 100 Described can of course by analogy for a different configuration or orientation of the handle 104 be valid. The handheld device can also 100 several (for example stretched away from one another or at right angles to one another) handles which enable the hand-held device to be handled safely 100 made possible. By analogy, the or each handle can have several grip points for several hands. One or more than one of the handles can be the handle of the handheld device. One or more than one of the handles can be releasably attached to the hand-held device, for example provided as a component of the interchangeable attachment or as a separate handle. One or more than one of the handles on the handheld device can be persistent (permanent) or non-persistent.

Optionally, the hand-held device 100 have one or more than one user interface (eg user input interface and / or user output interface). Examples of the one or more user interfaces of the handheld device 100 may have a screen (also referred to as a display device), a physical keyboard, a loudspeaker, a vibration device, one or more than one physical switch (e.g. push button), one or more than one light source, or the like. Alternatively or additionally, the hand-held device 100 have one or more than one sensor, as will be described in more detail later. The vibration device can generally have a vibration exciter, for example a membrane or a piezo element. The vibration exciter can be set up to convert an electrical signal coupled into it into a mechanical vibration that can be detected haptically (also referred to as vibration) (for example having the frequency of the signal).

The input unit 108 can for example be provided by means of a user interface (then also referred to as a user input interface) which is set up for actuation by a user so that the activation information can be entered by actuating the user interface. The activation information can generally be detected by means of a sensor, for example by means of a touch-sensitive sensor (which is a touch-sensitive input unit 108 provides). As an alternative or in addition, the input unit can also have another sensor which can detect an actuation of the input unit. The sensor of the input unit 108 can be, for example, a proximity sensor, a touch sensor, a physical switch (e.g. button) or the like.

The input unit 108 can for example be part of the handle 104 be or border on them. This makes it easier to use.

The activation information can generally trigger the activation of the training of the machine. In a less complex example, the training can be activated if by means of the input unit 108 a user input (eg having a force and / or a touch) is detected. For example, the switch can be actuated by means of the force, so that training is activated. Similarly, training can be deactivated, for example if it is detected that another user input is occurring or user input is interrupted. However, more complex user inputs can also be implemented. For example, a first input sequence (for example a long or repeated keystroke) can activate training and / or a second input sequence can deactivate training.

The input unit 108 enables, for example, the recording of information about the activity to be started and / or ended. The means of the input unit 108 The functions provided can also be provided entirely or partially by means of another device external to the handheld device, for example by means of a radio switch and / or by means of a mobile computing device (e.g. a tablet), on which, for example, an application is executed which the functions of the input unit 108 emulated.

More generally speaking, one can use the input unit 108 entered first activation information represent that the training is to be activated and / or continued. As an alternative or in addition, second activation information entered by means of the input unit can represent that the training should be deactivated and / or interrupted.

The input unit 108 can optionally be set up according to a near-field communication protocol according to which the activation information is entered. For example, NFC can be used to enter the activation information.

The activation information can be sent by means of the output unit 110 output (e.g. communicated). The output unit 110 can be set up, for example, the activation information output according to a communication protocol, for example according to a network communication protocol. The activation information can be transmitted in a wired manner (also referred to as wired) or wirelessly, for example. In principle, any communication protocols can be used, standardized or proprietary communication protocols. In the following, a wireless communication of the output unit is referred to for a simpler understanding 110 (e.g. by radio) referred to. What has been described can, however, also apply analogously to wired communication of the output unit 110 be valid.

The output unit 110 can for example have a data transmission interface, for example a signal generator and an antenna. The signal generator can be set up, for example, to encode the activation information, for example in accordance with the communication protocol, and to supply a signal to the antenna in accordance with the encoded activation information.

The handle 104 , the input unit 108 and / or the coupling structure 102 can for example be part of a housing 136 of the handset 100 his or her housing 136 being held. The case 136 can have a hollow body in which one or more than one electrical component of the handheld device 100 is arranged, for example the output unit 110 , at least one sensor, one battery, etc.

To the handheld device 100 The hand-held device can be easier to handle (e.g. move) 100 be light, e.g. having a weight of less than about 5 kg (kilograms), e.g. than about 2.5 kg, e.g. than about 1 kg, e.g. than about 0.5 kg. Alternatively or additionally, the hand-held device 100 be made of a lightweight material. For example, a housing 136 of the handset 100 comprise or be formed from a plastic and / or light metal.

In general, the coupling structure must 102 not necessarily be arranged at the front. For example, the coupling structure 102 also at any position of the end portion of the handset 100 be arranged by the handle 104 extends away, for example also laterally. An end coupling structure 102 can be more intuitive and easier to use. A side coupling structure 102 can enable a more complex coupling mechanism.

For example, several magnets can be arranged along an annular path on the outside of the end section.

In the following, an end-face coupling structure is referred to for easier understanding 102 Referenced. What has been described can be analogous to a differently arranged coupling structure 102 apply, e.g. for a laterally arranged coupling structure 102 .

2 illustrates a system 200 according to various embodiments in a schematic side view or cross-sectional view, the system 200 the handheld device 100 and an interchangeable attachment 210 having the one with the coupling structure 102 is releasably coupled.

The detachable coupling can be understood as the interchangeable attachment by means of the coupling structure 102 non-destructive on the hand-held device 200 can be attached and / or detached from this, for example repeatedly and / or without the need for tools. For example, two interchangeable attachments can be exchanged for one another.

This can be done using the coupling structure 102 and the or each interchangeable attachment 210 be set up to correspond to one another, so that when they are brought into physical contact with one another, they can be connected to one another, for example by means of a relative movement of these to one another. In an analogous way, these can be separated from each other again, so that the interchangeable attachment 210 at a distance from the coupling structure 102 can be brought or exchanged.

For example, the or each interchangeable attachment 210 one to the coupling structure 102 corresponding counter-coupling structure 212 that can be connected to each other. For example, the connection can take place by means of a form fit and / or a force fit. Has the coupling structure 102 a bayonet or thread, this can provide a form fit. Has the coupling structure 102 an insertion section, this can provide a force fit by being plugged into one another. This is inexpensive to implement and easy to use.

For example, the connection can be made by means of a magnetic field, for example in the coupling structure 102 and / or the interchangeable unit 210 has a magnet that provides the magnetic field. The magnet can be a permanent magnet or an electromagnet. The magnetic field can create an attractive force between the coupling structure 102 and the interchangeable attachment 210 provide, for example by means of a ferromagnetic material of the interchangeable attachment 210 .

The interchangeable attachment 210 can be set up according to the activity to be trained. For example, the interchangeable attachment 210 a tool 214 to carry out the activity. The tool 214 can generally represent a function appropriate to the activity by means of which a workpiece is acted upon. The tool 214 can represent, for example, an archetype tool, an inspection tool, a joining tool (e.g. screwdriver, glue gun or welding device), a relocation tool (e.g. gripper), a separating tool or the like. The joining tool can, for example, have a coating tool (for example a paint spray gun, a powder coating gun) or be formed therefrom. The tool 214 of the interchangeable unit 210 does not, however, have to be fully functional, but it can be sufficient if the tool 214 of the interchangeable unit 210 has the shape and / or contour of the real process tool and / or at least an image thereof (for example analogous to a dummy element).

The system 200 can, for example, have several (e.g. at least 2, 3, 4, 5, 10 or at least 20) such interchangeable attachments 210 have, which are in your tool 214 differ from each other. Of the several interchangeable attachments 210 can be an interchangeable unit with the handheld device 100 be or will be coupled. If the tool is to be changed, a first interchangeable attachment coupled to the hand-held device can be used 210 having a first tool 214 has, against a second interchangeable attachment, which has a different second tool 214 has to be exchanged.

The system 200 can also have further components, as will be described in more detail later.

The hand-held pair 100 and interchangeable attachment coupled to it 210 is hereinafter also referred to as a training device 302 and the tool of the interchangeable attachment 210 as a training tool 214 designated. In general, an interchangeable attachment 210 also several training tools 214 that differ, for example, in the activity according to which they are set up. The multiple training tools 214 of the interchangeable unit 210 can for example be rotatable on the counter-coupling structure 212 be stored.

An electrical output of the or each exercise tool 214 can for example be smaller than the handheld device 100 . This makes it easier to use the training tool 214 by means of the hand-held device 100 to be supplied electrically and / or enables a passive training tool 214 .

In various embodiments, the training tool 214 for example, be or will be provided as a non-fully functional tool.

A weight of the or each exercise tool 214 can for example be smaller than the handheld device 100 . This makes it easier to use the training tool 214 by means of the hand-held device 100 to wear and simplifies its attachment.

A material of the or each training tool 214 can for example be plastic and / or light metal (eg aluminum). This reduces its weight.

A size (e.g., volume and / or extent along the longitudinal direction) of the or each training tool 214 can for example be smaller than the handheld device 100 . This makes it easier to use the training tool 214 by means of the hand-held device 100 to wear and simplifies its attachment. If less or no relief can be accepted, the training tool 214 also be the same size or larger than the handheld device 100 .

The coupling structure 102 can replace the interchangeable unit 210 as described in more detail below. Alternative to the coupling structure 102 can the training tool 214 also firmly (ie non-detachable) on the hand-held device 100 must be attached (so that it cannot be changed non-destructively, without tools, ie without assembly). The training tool 214 can for example be fastened to the end face in some other way by means of screws, for example welded or glued to it. The training tool 214 can for example be embedded in the end face. Such a handheld device 100 with permanently installed training tools 214 can then be set up for training precisely the one activity according to which the training tool 214 is set up. The following for the handheld device 200 with coupling structure 102 What has been described can also apply analogously to the hand-held device with a permanently installed training tool 214 be valid. In various embodiments, the activity can generally be defined via the process task to be performed by it and not (for example only) via the specific procedure for performing the process task. This allows, for example, variations to be taken into account when performing the same process task and thus more freedom in designing the training of the machine. For example, the activity can also include variations or modifications of processes as well as similar or similar processes that fulfill the same process task.

3 illustrates a procedure 300 according to various embodiments in various schematic views.

Furthermore, in 3 a machine to be trained 114 shown. The machine to be programmed 114 can be a robot, for example an industrial robot for handling, assembling or processing a workpiece, a collaborative robot (also referred to as a cobot) or a service robot (e.g. a cooking machine or a care machine). The procedure 300 enables, for example, the end-user programming of the complete automation application (including process parameters and integration) by a technical layperson. The machine to be trained 114 can be a physical machine. What is described here for this can also be analogous to a virtual machine to be trained 114 be valid.

For example, when using multiple physical machines 114 of the same type (for example by means of averaging the manufacturing inaccuracies of each of the machines) an idealized virtual model of the type (the machine-type-specific model) which is trained can be used. Based on the trained virtual machine 114 the control information can be determined (clearly a mapping of the physical machine), e.g. automatically.

The machine to be trained 114 can generally be a manipulator and a frame 114u have on which the manipulator is supported. The term manipulator encompasses all of the movable links 114v , 114g , 114w the machine 114 together, the control of which enables a physical interaction with the environment, e.g. to carry out a process activity. The machine can be used for control 114 a control device 702 (also as a machine control 702 referred to), which is set up to implement the interaction with the environment in accordance with a control program. The last link 114w of the manipulator (also as an end effector 114w can be one or more than one tool 124w (also as a process tool 124w which is set up according to the activity to be trained, e.g. to carry out the activity. The process tool 124w can for example have a welding torch, a gripping instrument, a glue gun, a painting device or the like.

The manipulator can have at least one positioning device 114p , for example a robotic arm 114p (more generally also referred to as an articulated arm), on which the end effector 114w is attached. The robotic arm 114p clearly provides a mechanical arm which can provide functions similar to those of a human arm or even more (for example multi-axis movements per joint or combined rotation and pivoting per joint). The robotic arm 114p can for example have several (eg at least 2, 3, 4, 5, 10 or at least 20) joints, of which each joint can provide at least one (eg 2, 3, 4, 5 or 6) degree of freedom.

The manipulator can of course also be set up differently, for example in the case of a portal machine, the general type of multi-joint robot or a delta robot. The machine can, for example, have an open or a closed kinematic chain. The following is a more easily understandable robotic arm 114p Referenced. That for the robotic arm 114p What has been described can also apply analogously to a differently set up machine or a differently set up manipulator.

The links of the positioning device 114p can, for example, connecting links 114v and articulated links 114g be, with the connecting links 114v by means of the articulated links 114g are interconnected. A joint member 114g may for example have one or more hinges, each of which hinge the connecting links connected thereto 114v can provide a rotational movement (ie a rotary movement) and / or a translational movement (ie a displacement) relative to one another. The movement of the articulated limbs 114g can be set in motion by means of actuators, which are controlled by the control device 702 can be controlled. One or more than one joint can also have a ball joint or be formed therefrom.

In 301 can be a training device 302 (the handheld device 100 and interchangeable attachment coupled to it 210 having) be or will be provided. For training (for example as soon as or as long as training is activated), a person can 106 (also referred to as user) an activity for completing the process task using the training device 302 demonstrate (e.g. painting, manufacturing and / or assembling a component). The training tool 214 can, for example, any process tool 124w that represent a machine 114 can lead. The process tool 124w interact with the workpiece.

The training device 302 Transmit data to a device external to the handheld device, for example at least the training data. The training data can have the activation information and optionally spatial information or be formed therefrom. Optionally, the training data can be one or more of the following Information have: one or more calibration values, quality information, sensor data, (for example aggregated, merged and / or optimized) information, activation information. Quality information can for example indicate the reliability of a data point of the training, for example clearly how good the data point is. The quality information can be assigned to each data point of the training, for example by means of the device external to the hand-held device. The activation information can for example be related to the end effector of the machine, for example its gripper system and / or welding device.

The spatial information can, for example, be a position and / or its change (ie a movement) of the training device 302 represent in space. The activation information can be an input on the input unit 108 represent. The movement can, for example, be a translation and / or rotation of the training device 302 have and can be determined, for example, by measuring the acceleration and / or the speed.

The device external to the hand-held device receives the time-dependent position, for example 111 (ie location and / or orientation) of the training device 302 or its coordinate system 711 in the room 701 , 703 , 705 (e.g. within a building 511 ). Based on this, the time-dependent location 111 of the training tool 214 be determined. A variety of positions that an object (e.g. the handheld device 100 , its coordinate system 711 and / or the training tool 210 ) can take can by means of a trajectory 111 (also referred to as a training trajectory). Every point on the trajectory 111 can optionally be assigned a time and / or an orientation of the object. Every point on the trajectory 111 and / or the orientation can be specified by means of corresponding coordinates. The trajectory 111 alternatively or additionally to the coordinate system of the handheld device 100 and / or related to a place of work. The space 701 , 703 , 705 (also referred to as work space), in which the trajectory 111 is specified, can be spanned by a coordinate system which is stationary, ie has an invariant position to the earth's surface.

Every point (e.g. vector) of the trajectory 111 can optionally be assigned one or more than one activity-specific and / or tool-specific process parameter, e.g. a flow rate, a flow rate, an intensity, an electrical power, a key press, etc.

A locating device, for example, can be used for this purpose 112 be set up stationary and the coordinate system 711 define (e.g. clamp). The locator 112 can for example have one or more than one sensor and / or one or more than one emitter, as will be described in more detail later. The portion of the training data received by the locator 112 is provided, can be synchronized by means of a time stamp in relation to the part of the training data that is received from the training device 302 is provided.

The training data can optionally have activity-specific process parameters, as will be described in more detail later. Activity-specific process parameters can represent the parameters of the respective function and / or the operating point of the process tool, e.g. a volume flow of the spray gun.

On the basis of the training data and the optional activity-specific process parameters, in 303 a model 104m the process activity (also as a process model 104m designated). This process model 104m clearly describes the movement of the process tool to be carried out 124w to complete the process task. The process model 104m can optionally by a person 106 be examined and adjusted.

In one example, the incoming training data includes time-based movement data from the person 106 guided exercise device 302 and activation data of the input device 108 on. The time sequence of the training data is then broken down into sub-processes, for example using support points and / or task-specific analytical algorithms (e.g. approaching the starting point of the trajectory, taking the starting position, starting the painting process, painting, completing the process, starting from the end point of the trajectory). The user can optionally post-process the training data manually. It then becomes an instance of a process model 104m , for example in the form of a metamodel. The metamodel describes the data types of the model instance and their possible relationships. In this case, a model is, for example, a directed graph with typified nodes. Nodes have a data type (node of the metamodel) that describes the parameters of the model and their value ranges. The model instance is generated on the basis of the training data with the aid of, for example, artificial neural networks. The artificial neural networks (kNN) can be trained with conventional training methods, for example the so-called backpropagation method. Alternatively or additionally, the training data can be optimized by means of mathematical optimization and / or machine learning methods. During training, the training vectors are selected according to the input parameters required in each case, such as the spatial coordinates of the training device 302 (or. their temporal change), associated time information, entries on the training device 302 , which can represent working points and / or control points of the process tool, for example, spatial alignment of the training device 302 It should be pointed out that both the parameters contained in the input vector of the kNN and the parameters contained in the output vector of the kNN are highly application-dependent or process-dependent and are selected accordingly.

Furthermore, a specific hardware platform 114 (more generally also as a machine 114 designated) (e.g. a specific robot type or end effector, etc.). The machine specifics (e.g. structure) of the machine 114 can by means of a model 114m the machine 114 must be taken into account. The model 114m the machine 114 can be machine-specific information from one or more different machines 114 exhibit. The machine-specific information can have machine-specific parameters, such as positioning and repetition accuracies, maximum range of motion, speeds, acceleration, etc. Alternatively or additionally, the machine-specific information can at least be the process tool 124w (also as a machine tool 124w denoted) represent, for example, on the positioning device 114p the machine 114 are attached.

Based on the model 114m the machine 114 and the process model 104m can be a platform-specific model in 305 116m (also as a control model 116m marked) for the machine control 702 to be generated. The control model 116m can have the respective control information, which the movement and / or activity of the machine 114 Taxes. For example, the machine-specific control information (for example volume flow at the paint end effector and / or movement sequences) can be determined, which correspond to the activity-specific process parameters.

The process model 104m but does not necessarily have to be determined separately. On the basis of the training data and the optional activity-specific process parameters, the control model can also be used directly in 305 116m can be determined by, for example, the trajectory 111 of the training tool 214 on a trajectory 113 of the process tool 124w is mapped.

In 307 can optionally be based on the control model 116m by means of a code generator 412 a program code 116 (e.g. source code) can be generated. The program code 116 can designate the respective code in which the control program 116 is written. Depending on the process task, information technology infrastructure and the specific requirements, different target platforms can be used on which the program code 116 should be performed. The program code 116 for a communicating overall system (e.g. the robot controller and the PLC controller). The program code 116 can optionally have predefined parts where the program code 116 can be customized by a developer.

Creating the program code 116 does not necessarily have to be done, as will be described in more detail later. The control information of the control model 116m can for example be implemented directly by the control device 702 the machine 114 .

The creation of the control model does not necessarily have to be done in an analogous manner 116m and / or the process model 104m respectively. For example, the control device 702 the machine 114 processed training data are also supplied as control information, which is then provided by the control device 702 the machine 114 interpreted and converted into control signals to control the kinematic chain of the machine.

The code generation 107 can clearly show a transformation from the dependent model into the control language of a specific manufacturer-specific machine control. In one example, the code is generated 107 in the form of templates that exist for a target language. These templates have instances of the platform-dependent model 116m as input and describe at metamodel level how text fragments are generated from it. In addition to a pure text output, these templates also have control structures (e.g. branches). A template engine in turn has a template and an instance of the platform-independent model as input and uses it to generate one or more text files that contain the program code 116 can be added. It goes without saying that any other form of code generation 107 can be used, for example, without using templates and / or only on the basis of mathematical illustrations.

Using code generation 107 can be a control program 116 which of the corresponding machine 114 is executable.

The code generation 107 can, for example, be used for machine control 702 and / or a PLC control 702 respectively. The code generation 107 can, for example, generate human-readable code segments (ie source code) and / or machine-readable code segments (ie machine code). The source code can be generated for different target languages, e.g. depending on which target language is suitable for the corresponding machine. Optionally, the source code can be subsequently adapted and edited, for example by a developer.

Generating 305 of the tax model 116m can therefore based on the training data and a model 114m the machine 114 respectively.

4th illustrates the process 300 according to various embodiments in a schematic side view 400 .

The procedure 300 may further include in 401: calibrate 403 of the system 200 . The calibration may include performing a calibration sequence when the handheld device 100 at the machine 114 is attached, for example to its manipulator. The system can do this 200 a fastening device 402 have, by means of which the hand-held device 100 detachable to the machine 114 can be coupled. The fastening device 402 can for example be set up for magnetic fastening, for form-fitting and / or force-fitting fastening, for example by means of a clip by means of a Velcro tape or by means of another form-fitting element (eg screws).

The calibration sequence can include: moving the end effector 114w the machine 114 , e.g. by adding one or more than one (e.g. each) actuator of the kinematic chain of the machine 114 is controlled; and acquiring the spatial information of the handheld device 100 (e.g. analogous to 301 ). For example, the position and / or movement of the handheld device 100 be calibrated in relation to the coordinate system of the machine and / or a global coordinate system. Based on the information obtained in this way, the model 114m the machine 114 (for example the control model, for example a machine type-specific model or the delta formation) can be updated 401.

The program code 116 to be generated. The program code 116 can then based on the updated model 114m the machine 114 generated 107. The program code 116 but does not necessarily have to be generated. For example, what has been learned can be accessed directly on the control device of the data processing system 502 (see. 5 ) to control the machine, as described in more detail below.

The calibration sequence can clearly be a calibration of the robot 114 enable in the global coordinate system.

The procedure 300 can alternatively or in addition to the calibration 403 of the system 200 Include the following: Run the on the machine 114 Control information to be transmitted (e.g. in the form of the program code, in the form of the process model 104m and / or in the form of the training data) using the model 114m the machine 114 . In which the model can 114m the machine 114 be set up, the mode of operation of the machine 114 to emulate. The model 114m the machine 114 can for example be a virtual image of the machine 114 exhibit.

This can be clearly illustrated using the model 114m the machine 114 a test instance can be provided on which the control information can be tested for the degree of its integrity, its task performance and / or its freedom from conflict.

Optionally, based on a result of executing the control information using the model 114m the machine 114 the control information can be adapted, for example manually and / or automatically. This makes it possible to increase the degree of integrity, the degree of task fulfillment and / or the degree of freedom from conflict.

5 illustrates the system 200 according to various embodiments in a schematic perspective view 500 , which further comprises a device external to the hand-held device. The device external to the hand-held device can be a data processing system 502 have, which is set up, the program code 116 to generate 107 or, more generally, to generate control information 107, as will be described in greater detail later. To do this, the data processing system 502 the training data are provided, for example by receiving them from the location device 112 and / or from the handheld device 100 to the data processing system 502 be transmitted. The transmission can take place, for example, in accordance with a wireless communication protocol.

The data processing system 502 can from the machine 114 be separate or be part of it. The data processing system 502 the machine 114 can for example have its control device or be formed from it, for example having a memory-programmable system. The training data can be clearly visualized on a data processing system that is separate from the machine 502 processed and later transferred to the robot controller. As an alternative or in addition, the training data (eg partially or completely) can be processed on the robot controller itself. Likewise, for example, when generating the program code 116 is omitted, the machine by means of the separate from the machine Data processing system 502 can be controlled directly. In the latter case, the data processing system 502 determine one or more than one control command on the basis of the control information and control the machine by means of the control command, for example via a programming interface and / or by means of a programming communication protocol (API). Then you can follow the steps described in more detail below 305 , 307 , 316 be omitted.

In the following, a data processing system separate from the machine is referred to 502 Referenced. What has been described can also be applied analogously to a data processing system 502 apply that in the machine 114 is integrated and / or provides the machine with the control commands.

The data processing system 502 can optionally be communicative with the machine 114 coupled 502k be, e.g. with the machine control 702 , e.g. if this from the machine 114 is separate, or a component of the machine 114 be. The communicative coupling 502k can for example by means of a cable 502k be provided or alternatively also wirelessly. By means of the coupling 502k can control the machine 114 take place, for example according to the calibration sequence. Alternatively or additionally, by means of the coupling 502k the generated program code 116 to the machine 114 be transmitted. Communicating with the machine 114 can take place in accordance with a communication protocol of the machine, for example in accordance with a programming communication protocol, a network communication protocol and / or a fieldbus communication protocol. The code generation 107 and / or communicating with the machine 114 can thus for one or more than one machine 114 , optionally of different types, optionally with the consideration of possible different PLC control systems.

The data processing system 502 can, when it receives a first activation information, begin to record the training data (also referred to as activating the training). The recording of data by the data processing system 502 can of course also start earlier. The training data then designate that part of the data that is also used for training. For this purpose, the recorded data can be filtered, for example manually or on a tablet.

The data processing system 502 can, when it receives a second activation information, end the recording of the training data (also referred to as deactivating the training). Activation and deactivation can be repeated and the training data recorded in this way can be consolidated. On the basis of the training data, the program code 116 generated 107.

The data processing system 502 can, for example, be a software-based method 300 for training an industrial robot 114 enable, which also a technical layman 106 is accessible. For example, a non-programmer 106 be able to use an industrial robot 114 fully integrated.

By means of the procedure 300 can at least one task expert 106 (for example a mechanic or a welder) one or more than one activity of the process sequence, for example by means of the training device 302 to demonstrate. The necessary control software can be based on this 116 of the robot 114 , including all required software components, can be generated fully automatically.

The procedure 300 can in 301 have: Acquisition of the training data by means of one or more than one sensor of the positioning device 112 and / or the training device 302 (e.g. its handheld device 100 ). For example, the handheld device 100 provide its position and / or acceleration as part of the training data. Alternatively or additionally, at least one sensor of the locating device 112 (also referred to as an external sensor) the position and / or the acceleration of the training tool 214 and / or the handheld device 100 as part of the training data. Other measured variables can also be recorded which indicate an actual state of the training tool 214 and / or the handheld device 100 represent, e.g. their trajectory 111 (e.g. position and / or movement). Optionally, the input unit 108 have at least one sensor that detects a handling according to the activity as part of the training data. The training data can be sent to the data processing system 502 (eg a PC, a laptop, etc.) are transmitted, which by means of their communication unit (eg by radio) with the locating device 112 and / or with the handheld device 100 (e.g. its output unit 110 ) is communicatively connected.

The locator 122 can optionally emit a location signal by means of a location signal source 1308 (e.g. an infrared laser), as will be described in more detail later.

Optionally, the data processing system 502 implement a system administration by means of which the components of the system can be administered and / or registered. For example, a component that registers in the system can be or will be registered as a component of the system, for example the hand-held device 100 and / or the interchangeable unit 210 . So can several Interchangeable attachments 210 and / or multiple handheld devices 100 can be managed per system.

Reference is made here to the fact that the input unit 108 a component of the handheld device 100 is (also as a handheld device-internal input unit 108 designated). What has been described can apply analogously to an input unit external to the hand-held device. The hand-held device-external input unit can, for example, alternatively or in addition to the hand-held device-internal input unit 108 be or will be provided. For example, the input unit external to the hand-held device can be provided by means of a device-external to the hand-held device (also referred to as an activation device external to the hand-held device). The activation device external to the hand-held device can, for example, be a smartphone, a radio switch, an interchangeable attachment (as will be described in more detail below), or the or an additional computer system 502 have or be formed therefrom. The hand-held device-external input unit can clearly have the same function as the hand-held device-internal input unit 108 provide so that the inputting of activation information for activating the training of the machine takes place by means of the input unit external to the hand-held device. The input unit external to the hand-held device does not necessarily have to be a physical input unit, but can also be an emulated or virtual input unit.

The activation device external to the hand-held device can, for example, be registered in the system and optionally exchange data with that component of the system (also referred to as processing component) which records and / or processes the training information, for example wirelessly. The processing component of the system can, for example, be the control device of the hand-held device 100 when this the data processing system 502 has, or the control device of the machine, if this is the data processing system 502 having. Alternatively, the activation device external to the hand-held device can record and / or process the training information itself.

In general, the system can have one or more than one hand-held device-external device, of which at least one hand-held device-external device processes the training data (i.e. provides the processing component) and at least one or the hand-held device-external device optionally provides the input unit.

The activation device external to the hand-held device can, for example, enable two-handed training of the machine.

In analogy to this, the hand-held device-external activation device can have a hand-held device-external output unit which, as an alternative or in addition to the output unit 110 of the handset 100 (also referred to as a hand-held device-internal output unit) be or can be provided. The output unit external to the hand-held device can be set up to output the activation information for activating the training of the machine 114 at.

The input unit (internal to the handset and / or external to the handset) can optionally implement a voice control or gesture control for entering activation information. Alternatively or additionally, the hand-held device 100 and / or the hand-held device-external activation device implement a voice control or gesture control for inputting training data. For example, it can be made possible for the user to enter one or more than one parameter of the activity to be trained (for example activity-specific and / or tool-specific process parameters) in a voice-based or gesture-based manner. For example, the user can specify a flow rate based on speech or gestures.

As an alternative or in addition to gesture control, for example, muscle tension control can be implemented. This can, for example, enable gestures or the parameter to be recorded on the basis of the muscle tension of the user. The gesture control can be implemented, for example, by means of the muscle tension control and / or also by means of a video camera, which record the behavior of the user.

More generally speaking, the activation information and / or the one or more parameters of the activity to be trained can be determined on the basis of (e.g. contactless) recorded user behavior (e.g. language, facial expressions, gestures, movement, etc.). For example, it can be determined by means of the user behavior that the training should be started, interrupted and / or ended.

6th illustrates a machine 114 according to various embodiments in a schematic structure diagram 600 .

The machine 114 can herein be one by means of a control program 116 be a programmable machine. Once programmed, the machine can 114 be set up to carry out one or more than one process activity autonomously, and optionally to vary the process activity (ie the execution of the task) as a function of sensor information within limits. The control device 702 can for example have a programmable logic system (PLC).

The machine 114 can be a control device 702 have, which is set up, at least one actuator 704 (also known as an actuator) of the machine 114 to be controlled according to the control program 116 . The control device 702 may for example have one or more than one processor and / or a storage medium. The machine's manipulator 114 can be a kinematic chain 706 have, along which an action of the at least one actuator 704 is transmitted, e.g. along the coupling of the links of the kinematic chain 706 among themselves.

The kinematic chain 706 can be a positioning device 114p and one by means of the positioning device 114p positionable end effector 114w exhibit. As an end effector 114w can be the last link in the kinematic chain 706 the machine 114 be understood, which is set up to act directly on a workpiece, for example to machine it (ie to process it). The sum of all processes, such as the action on the workpiece, for example a preparatory step for this or for example a post-processing step for this, can be part of the process activity. The process activity can include, for example, primary shaping, inspection, joining (e.g. welding, coating, screwing, plugging, contacting, gluing or otherwise assembling or assembling), cutting (e.g. grinding, milling, sawing or otherwise machining, punching or dismantling), reshaping , Heating, moving (e.g. gripping, loading, rotating or moving), or the like. The process activity can be path-based, ie by moving the end effector 114w along a trajectory 113 can be mapped.

The positioning device 114p can at least one actuator 704 have, which is set up, the end effector 114w to relocate to a position (also known as repositioning). The end effector 114w can at least one actuator 704 have which is set up to carry out the process activity, for example by means of a tool 124w of the end effector 114w . The tool 124w can generally provide a function appropriate to the process activity, by means of which the workpiece is acted upon. The tool can, for example, have an archetype tool, a joining tool (for example screwdriver, glue gun or welding device), a displacement tool (for example gripper), a separating tool or the like. The joining tool can, for example, have a coating tool (for example a paint spray gun, a powder coating gun) or be formed therefrom.

Optionally, the machine can 114 at least one internal sensor 114i have, which is set up, an operating point of the kinematic chain 706 to be recorded, e.g. to implement a regulation. The internal sensor 114i can, for example, be part of a stepper motor that detects its current operating point (eg its position). Alternatively or in addition to the at least one internal sensor 114i can the machine 114 also from its frame and / or its end effector external sensor 114i have, for example a camera, which the machine 114 visually recorded.

Will the process activity from the programmable machine 114 modeled after, the machine can 114 be brought as a whole to a working point that comes as close as possible to the process activity according to the spatial information. The working point can, for example, define the position of the end effector 114w brought (by moving it) and what effect it should provide there. The operating point can, for example, be the sum of the states of the individual actuators 704 the machine 114 describe.

The storage medium can be part of the control device 702 and / or provided separately therefrom. The storage medium can, for example, comprise an electronic semiconductor storage medium, e.g. a read-only memory (ROM) or a random access memory (RAM), a memory card, a flash memory, a stick for a universal serial bus (USB stick), a solid-state drive (SSD) have a hard disk drive (HDD), have a storage disk (MD), have a holographic storage medium, have an optical storage medium, have a compact disc, have a digital versatile disc (DCV), and / or a have magneto-optical disk.

The above training was done with reference to a machine 114 described. By analogy, what has been described can apply to a large number of separate machines, for example machines that communicate with one another 114 (eg a process line) apply as well as for a machine that has several positioning devices and / or end effectors.

7th illustrates a system 700 according to various embodiments in a schematic perspective view, for example set up like the system 200 , the system 700 the handheld device 100 and a locator 112 having, wherein the locating device 112 multiple tracking units 112a , 112b having. Each of the tracking units 112a , 112b can be set up to determine the position of the hand-held device 100 to be carried out, for example by means of a follow-up (so-called "tracking"). Alternatively or additionally, the hand-held device 100 be set up to determine the position yourself. For example, the locating units 112a , 112b be set up to project an optical pattern into the room (for example by means of an infrared laser), which is from one or more than one optoelectronic sensor of the handheld device 100 can be captured.

8th illustrates a system 800 , e.g. set up as the system 200 or 700 , according to various embodiments in a schematic perspective view. The hand-held device can 104 from two end faces 101a , 101b be limited, of which a second end face 101b the coupling structure 102 opposite and a sensor section 802 (more generally also as a locating section 802 designated). The longitudinal direction 711a of the handheld device 100 can from the second face to the first face 101a be directed towards. The sensor section 802 can have one or more than one (eg optoelectronic) sensor, as described above, which is used to determine the training trajectory 111 can be used, e.g. at least 3 (4, 5 or at least 10) sensors.

Alternatively or in addition to the sensors, the locating section 802 one or more than one emitter can be arranged (also then also as an emitter section 802 referred to as), which is connected to the locating device 112 communicates. The locator 112 The signals received from the emitters can then be used to acquire the spatial information of the hand-held device 100 respectively. The following is on the sensors of the section 802 Referenced. That for the sensors of the section 802 What has been described can also apply analogously to the emitters of the emitter section 802 apply, in which case, for example, the signal direction would then be reversed.

The more sensors the sensor section 802 has, the greater the accuracy of the position determination. Optionally, at least two (or more in each case in pairs) sensors of the sensor section 802 differed in their orientation. This facilitates all-round coverage.

The handle 104 can have a smaller circumference (for example along a self-contained path that runs transversely to the longitudinal direction 711a) than the sensor section 802 . In other words, the sensor section 802 be widened. Alternatively or additionally, at least two sensors of the sensor section 802 have a distance (also referred to as sensor distance) from one another, which is greater than an extension of the handle 104 (also known as transverse expansion). The transverse extent and / or the sensor spacing can be transverse to the longitudinal direction 711a and / or parallel to one another. This increases the accuracy of the position determination. The accuracy can clearly increase the greater the distances between the sensors and / or the greater the area spanned by the sensors (also referred to as the sensor area).

Optionally, one or more than one sensor of the hand-held device that is used to determine the training trajectory 111 used inside the handle 104 be arranged, for example a rotation sensor 812 and / or a position sensor 814 . This increases the accuracy of the determination of the training trajectory 111 , for example due to the distance to the sensor section 802 .

The arrangement of the sensor section (for example with optoelectronic sensors) on the second face 101b and / or away from the handle minimizes obscuring of the sensors of the sensor section and thus facilitates the determination of the spatial information.

The handheld device 100 can have one or more than one feedback unit (also referred to as a signal transmitter), for example an optical feedback unit 822 (for example having a light source), for example a haptic feedback unit 824 (eg having a vibration source, eg having an unbalance motor), and / or an acoustic feedback unit (eg having a loudspeaker).

The interchangeable attachment 210 can optionally have a circuit 852 have that is set up to implement a function. The function of the interchangeable unit 210 can be set up according to the activity to be trained and / or by means of handling the hand-held device 100 (e.g. its input unit 108 ) can be controlled. Alternatively or additionally, the interchangeable attachment can have an input unit, by means of which, for example, handling can be recorded in accordance with the activity or the function of the interchangeable attachment can be operated.

The function of the interchangeable unit 210 can for example by means of the input unit of the interchangeable attachment 210 and / or the handheld device 100 (more general of the training device 302 ) can be controlled. For example, a gripping movement of a gripper can be triggered and / or controlled by means of the input unit.

Examples of the function of the interchangeable unit 210 can have: Capturing a on the interchangeable unit 210 acting physical variable (for this purpose the circuit can have at least one sensor), emitting radiation (for this purpose the circuit can have at least one Having a radiation source, for example a light source), exchanging data (for this purpose the circuit can have at least one additional interface), moving one or more than one component of the interchangeable unit 210 . The function can be set up according to the process activity, for example.

The handheld device 100 can be set up the circuit 852 to supply with energy and / or to exchange data with this. For example, the sensor of the circuit 852 can be read out and the data read out can by means of the output unit 110 be transmitted to the data processing system. For example, the radiation source can be adapted (for example its radiation intensity, its opening angle, its radiation wavelength, etc.). For example, the radiation source can have a light source, an ultraviolet radiation source (for example for curing adhesive) or heat radiation source (for example a radiant heater). By means of the light source (clearly emitting visible light), for example, an illuminated area can be projected onto the workpiece, which area is used, for example, to inspect the workpiece or to mark a point on the workpiece that is to be processed.

Supplying the circuit 852 with power and / or exchanging data with the circuit 852 can, for example, be wired (using an interchangeable contact unit interface). The handheld device can do this 100 for example, have a power line, the output of which 842a on the first face 101a of the handset provides a first contact. The circuit can correspond to this 852 have a power line whose input 842e provides a second contact. The first contact and the second contact can, if the interchangeable unit 210 on the handset 100 is coupled, be electrically and / or physically connected to one another (also referred to as a power supply connection). In an analogous manner, a data exchange connection can be established by means of contacts 843 be provided. The interchangeable attachment 210 can alternatively or additionally have an electrical energy source (eg a battery) which is used to supply the circuit 852 is furnished with energy.

More generally speaking, the interchangeable attachment 210 and the handheld device 100 (eg their batteries) exchange electrical energy for supply, eg from the interchangeable unit 210 to the handset 100 or the other way around. For example, the interchangeable attachment 210 also used to power the handset battery 100 to be charged or self-sufficient from the battery of the handheld device 100 operate.

You can use the interchangeable unit in the same way 210 and the handheld device 100 Exchange data, e.g. from the interchangeable unit 210 to the handset 100 or the other way around. For example, the function of the input unit 108 of the handset 100 on an input unit of the interchangeable unit 210 are transmitted, so that the input of activation information for activating the training of the machine (for example, optionally or only) on the interchangeable attachment 210 can be done. The input unit of the interchangeable unit 210 can for example by means of means of contacts 843 with the control device of the handheld device 100 Exchange data.

For example, the interchangeable attachment 210 also have a sleeve into which the handle and / or the input unit 108 of the handset 100 can be inserted at least partially (ie partially or completely) and / or which at least partially covers it (see, for example, interchangeable attachment 210f in 9 ). For example, the sleeve can have a recess in which the handle and / or the input unit 108 of the handset 100 can be plugged in. This enables a more individual adaptation of the training device 302 of the activity to be trained. Such an interchangeable attachment 210 be set up when coupling to the handset 100 , the function of the input unit 108 to take over, so that the input of the activation information for activating the training of the machine on the interchangeable unit 210 can be done.

The data exchange connection and / or energy supply connection can, however, also take place wirelessly (by means of a wireless interchangeable unit interface).

For example, the energy can be fed into the circuit wirelessly by means of induction 852 are coupled. For example, the data can be exchanged by radio, for example via Bluetooth and / or RFID. Alternatively or additionally, the data (for example in the form of a data signal) can be modulated onto a signal (for example the current and / or the voltage) of the power supply connection (also referred to as carrier frequency technology). The data signal can, for example, be modulated onto one or more than one carrier signal of the power supply connection.

The coupling structure 102 and the counter coupling structure 212 can, for example, provide a plug-in coupling.

9 illustrates a system 900 , e.g. set up like one of the systems 200 , 700 or 800 , according to various embodiments in a schematic perspective view, wherein the system 900 the handheld device 100 and several interchangeable attachments 210a to 210g having. From the several interchangeable essays 210a to 210g can optionally (eg always exactly) an interchangeable attachment with the coupling structure 102 be or will be coupled.

The several interchangeable attachments 210a to 210g can, for example, use an interchangeable attachment 210b with a displacement tool (also referred to as a pick-and-place tool), for example a gripper. The displacement tool can, for example, have exchangeable gripper jaws, two or more gripper jaws and / or have a driven gripping function. This can be done using its circuit 852 for example have an actuator that drives the gripping function (eg a gripper setting).

The several interchangeable attachments 210a to 210g can, for example, use an interchangeable attachment 210c with coating tool. This can for example have a sensor that detects a flow regulation to be trained.

The several interchangeable attachments 210a to 210g can, for example, an interchangeable attachment 210d with inspect tool. The inspect tool can, for example, represent optical quality assurance as an activity. For example, the area to be inspected can be projected onto the workpiece by means of the inspection tool.

The several interchangeable attachments 210a to 210g can, for example, use an interchangeable attachment 210e with a cutting tool, for example a deburring tool. Its circuit 852 can for example have a multi-axis force sensor, a variable rigidity and / or an exchangeable deburring tip. The multi-axis force sensor can, for example, detect a force acting on the deburring tip. The rigidity can, for example, represent a force that counteracts a deflection of the deburring tip with respect to the multi-axis force sensor. The deburring tool can represent deburring as an activity, for example.

The several interchangeable attachments 210a to 210g can, for example, use an interchangeable attachment 210f with a screwing tool. Its circuit 852 can for example have a sensor (for example a single-axis or multi-axis force sensor) that can detect a force acting on the screw tip. The screwing tool can, for example, have an exchangeable screwing tip (the screwing end effector, for example a screwing bit).

The several interchangeable attachments 210a to 210g can, for example, use an interchangeable attachment 210g with glue tool. The adhesive tool can for example have an exchangeable adhesive tip. The circuit 852 of the interchangeable unit 210g can for example have a sensor that can detect a working area swept over by the adhesive tip and / or have a sensor (eg a single or multi-axis force sensor) that can detect a force acting on the adhesive tip.

The circuit 852 of the interchangeable attachment with the coating tool and / or the inspection tool can, for example, have a work area display unit which shows the work area 812 displays, for example by being illuminated by means of a light source of the work area display unit. The size of the displayed work area can optionally be changed, with the actually set work area or working point when training to create the control model 116m can be taken into account.

The circuit 852 of the interchangeable attachment with coating tool, screwing tool, displacement tool and / or with inspection tool can for example have the additional interface.

The additional interface can, for example, have an additional input unit which is set up to input information about an operating point of the tool (also referred to as operating point information). The operating point information can represent, for example, a start, a duration and / or a strength of the activity, e.g. a coating (e.g. the flow rate used for this). The additional input unit can for example have one or more than one switch, slide control, force sensor or the like. As an alternative or in addition, the additional interface can have an additional feedback unit which is set up to output feedback. The additional feedback unit can for example have an optical feedback unit (e.g. having a light source), e.g. a haptic feedback unit (e.g. having a vibration source, e.g. having an unbalance motor), and / or an acoustic feedback unit (e.g. having a loudspeaker). The feedback can, for example, indicate a status of the operating point, acknowledge its change, acknowledge the acquisition of a user input, acknowledge the (physical, electrical and / or communicative) coupling and / or uncoupling of the interchangeable unit, acknowledge the detection of a mechanical effect on the interchangeable unit. The optical feedback unit can, for example, have a display or some other display.

10 illustrates the handheld device 100 according to various embodiments in a schematic structure diagram 1000 .

The handheld device 100 can herein be a mobile device programmable by means of a control program. Once programmed, the handset can 100 be set up, at least parts of one by means of the hand-held device 100 to record the presented process activity autonomously and as training data by means of the output unit 110 to send. The training data can include the activation information and / or the spatial information or be formed therefrom. The spatial information can, for example, be a position, movement and / or orientation of the hand-held device 100 exhibit.

Alternatively or additionally, the hand-held device 100 be set up to be recorded itself, for example its position, movement and / or orientation.

The handheld device 100 can be a control device 1702 have, which is set up, at least the input unit 108 read out and / or the output unit 110 head for. For example, the control device 1702 be set up, the or each by means of the input unit 108 to send detected activation information according to a communication protocol by means of the output unit 110 (e.g. to the data processing system and / or a network). Examples of the input unit 108 can have: one or more than one switch (eg push button), eg a non-contact switch, a touch-sensitive surface (eg resistive and / or capacitive), a virtual switch (eg implemented by means of a display).

The output unit 110 can for example be a wireless output unit 110 and optionally also have a transceiver for receiving data. For example, the control device 1702 by means of the transceiver of the output unit 110 Exchange data with the data processing system and / or the network. For example for the output unit 110 can include: a Bluetooth transceiver, a WLAN transceiver, a cellular transceiver.

Optionally, the output unit 110 also be set up the handset 100 to register in the system. The registration can take place, for example, as soon as the handheld device 100 is switched on. The system can thus recognize whether or when the handheld device is used 100 is made ready for training at least one movement and at least one activity of the machine. If the input unit is a component of a device external to the handheld device, the device external to the handheld device can be set up analogously to register itself in the system or the registration of the handheld device 100 to manage (for example, if the device external to the handheld device implements system management).

The control device 1702 may for example have one or more than one processor and / or a storage medium.

The control device 1702 can be set up, for example, by means of one or more than one sensor 802s (if available) of the handheld device 100 capture the spatial information. For example, for sensors of the handheld device 100 can have: a GPS sensor, a position sensor (eg having an orientation sensor and / or a position sensor), an acceleration sensor, a rotation sensor, a speed sensor, an air pressure sensor, an optoelectronic sensor, a radar sensor.

The control device 1702 can be set up, for example, by means of an interface 843 (if available) of the handheld device 100 Data with a to the handheld device 100 coupled interchangeable attachment 210 to exchange.

For example, on the control device 1702 software can be executed which provides one or more than one of the above functions, has a programming interface and / or cyclically the status of the components of the hand-held device 100 reads out.

The handheld device 100 can be a battery 1704 (for example an accumulator) which is set up, the electrical components 108 , 110 , 822 , 824 , 802s of the handset 100 to be supplied with electrical energy. Optionally, the hand-held device 100 have a charging connection via which the battery 1704 External electrical energy can be supplied to charge the battery 1704 .

The battery 1704 can be set up, for example, by means of an interface 842a (if available) of the handheld device 100 Energy with one to the handheld device 100 coupled interchangeable attachment 210 to exchange. The exchange of energy can, for example, by means of the control device 702 being controlled.

Using one by means of the input unit 108 captured user input (eg force, repetition, speed, location, etc.) can be determined, for example, whether the user input meets a criterion. Is the criterion according to the type of input device 108 parameterized (ie on one of the input unit 108 detectable property shown), the input unit 108 recorded property can be compared with the parameterized criterion in order to determine whether the Criterion is met. If the user input meets a first criterion, the first activation information can be recorded. If the user input meets a second criterion, the second activation information can be recorded. The means of the input unit 108 The functions provided can also be provided wholly or partially by means of the other device external to the handheld device, for example by means of a radio switch and / or by means of a mobile computing device (e.g. a tablet), on which, for example, an application is executed which the functions of the input unit 108 emulated.

The handheld device 100 can optionally have one or more than one feedback unit 822 , 824 exhibit. The control device 1702 of the handset 100 can be set up, for example, by means of the one or more than one feedback unit 822 , 824 to output a (e.g. haptic and / or visual) feedback. The feedback can, for example, represent a training status, acknowledge its change (e.g. activation or deactivation), acknowledge the acquisition of a user input, acknowledge the (physical, electrical and / or communicative) coupling and / or uncoupling of an interchangeable attachment, a status of the handheld device 100 (e.g. its battery charge) and / or acknowledge the detection of a mechanical effect on the interchangeable unit. Examples for the feedback unit 822 , 824 have: a light source (e.g. a light emitting diode), a sound source (e.g. a loudspeaker), a vibration source (e.g. an unbalance motor).

11 illustrates the process 300 according to various embodiments in a schematic flowchart 1100 . The procedure 300 may include: in 1101, first communicatively connecting the multiple components of the system to one another; and in 1103, second communicatively connecting the system to the machine. The first connection can take place wirelessly, for example. The second connection can take place, for example, by means of a cable, for example a network cable, which connects the machine to the data processing system. Optionally, the data processing system can be supplied with energy from the machine by means of the network cable.

The procedure 300 can optionally have: calibration 1103 of the system. Using the locating device 112 (for example its location signal), a position and / or movement of the hand-held device can be recorded (for example, its exact position in space can be determined). To do this, the hand-held device can be attached to the machine using the attachment device. For example, different types of fastening devices can be used depending on the type of machine. The hand-held device can be detected, for example, by means of infrared light (for example a light pattern), which is emitted by the locating device 112 is emitted. The calibration 1103 can for example take place fully automatically, for example when an input fulfills a predetermined criterion.

The procedure 300 may include in 1101: training the machine by means of the system. The person can couple a suitable interchangeable attachment to the hand-held device and carry out the activity using the training device formed in this way. Optionally, the person can execute an application by means of the data processing system, by means of which various settings and / or information on the activity to be performed can be set. The training can also include the training data being recorded. The training data can, for example, have spatial information with an accuracy of millimeters (or tenths of a millimeter). The training data can optionally indicate a recorded mechanical interaction (eg a force) with the interchangeable attachment when performing the activity. For example, a pressure of the activity acting on the interchangeable attachment can be detected by means of a force sensor of the hand-held device. The force of pressure can be taken into account as a parameter of the activity when training a grinding process, for example. The training can further include that the control model is formed on the basis of the training data. The control model can have a plurality of control information items that are executed one after the other. Control information can, for example, represent the operating point at which the machine is to be brought.

The training can optionally include postprocessing the training data, the control model and / or the process model. The reworking can be carried out, for example, by a user who interacts with the data processing system. As an alternative or in addition, the reworking can be carried out using artificial intelligence. This makes it easier to train more complex processes.

The training can also include generating the program code. For this purpose, for example, the program code can be generated in a programming language of the machine. The programming language in which the program code is written can be determined, for example, by the data processing system by determining the type of machine, for example.

The multiple components of the system can be the hand-held device, the data processing system, the locating device 112 and / or (e.g. if communicable) the interchangeable unit 210 exhibit.

12th illustrates a system 1200 , e.g. set up like one of the systems 200 , 200 , 700 , 800 or 900 , in one proceeding 300 according to various embodiments in a schematic communication diagram 1200 .

The data processing system 502 can optionally use a mobile terminal 1212 (for example a mobile radio device, for example a tablet) on which a user interface 1202 (also known as the front end) of the application is running. The data processing system 502 can alternatively or additionally be a stationary terminal 1214 (for example a data processing system, for example a server) on which a substructure 1204 (also referred to as the back end) of the application (e.g. as a processing component) is running.

The stationary terminal 1214 can for example be wired 502k be with the machine 114 , e.g. by means of a network 302n . The stationary terminal 1214 can for example be wireless 502d (e.g. using WLAN 302w ) and / or wired (e.g. using a long terminal cable 1214 ) with the mobile terminal 1212 be connected. The stationary terminal 1214 can, for example, be wireless (e.g. via Bluetooth 302b ) with processing software 1206 be connected, which for example on the handheld device 100 and / or the location device 112 is performed. The processing software 1206 can be set up to send the training data (or an already preprocessed version of it) to the back-end 1204 to submit. One or more than one (e.g. each) of the wireless links 302w , 302b , 302n can alternatively or additionally be provided by means of a wired connection and vice versa.

Alternatively or in addition to the terminal 1214 A non-local logic (e.g. a cloud) can also be used to provide the processing component. For example, a central server can be set up to provide a processing component to each system in a large number of systems. This saves resources. In this case, for example, the training data and / or the control information can be transmitted to or from the processing component via the Internet or network-internal resources (eg EdgeClouds).

The front end 1202 (eg its user interface) can be configured and calibrated management 1202a , a training data visualization 1202b and a process activity planner 1202c exhibit.

The back end 1204 can be a processing component 1402a have, which collects the training data and / or carries out the localization, for example the training trajectory based on the training data 111 and / or the associated working points along the training trajectory 111 determined. The back end 1204 can be a process model generation component 1402b have, which are based on the training trajectory 111 and / or the associated working points along the training trajectory 111 the process model 104m determined. The back end 1204 can be an optional process model adjustment component 1402c which are based on instructions issued by the process activity planner 1202c originate, the determined process model 104m changed. The back end 1204 can be a control model generation component 1402d which are based on the process model 104m the control model 116m determined.

The back end 1204 can use the code generator 412 have, which is based on the control model 116m the program code 116 generated and on a storage medium 702m (e.g. data memory) of the machine 114 saves. One processor 702p the control device 702 can the storage medium 702m read out to the program code 116 to execute. As already described above, the code generator 412 can be omitted, e.g. if the control commands are transmitted directly to the machine without generating the program code.

13th Figure 11 illustrates a trajectory determination mechanism 1300 of the system 200 in a schematic communication diagram.

The trajectory determination mechanism 1300 can be set up the training trajectory 111 to be determined, for example at least partially on the basis of the spatial information 1301 via the handheld device 100 . The trajectory determination mechanism 1300 can at least one measurement chain component 1304 and an evaluation component 1306 exhibit. The measuring chain component 1304 can be a sensor arrangement 1302 and one or more than one transducer 1304a , 1304b exhibit.

The sensor arrangement 1302 (for example, each of its sensors) can be set up to record one or more than one measured variable that contains the spatial information about the hand-held device 100 represents (e.g. from which the spatial information can be derived). The sensors of the sensor array 1302 can for example have internal or also external sensors that are registered in the system (for example by means of a communication link).

A transducer can be understood as a sensor (also referred to as a detector) which is set up to produce a transducer that corresponds to the sensor type To determine the property of its environment qualitatively or quantitatively as a measured variable, e.g. a physical or chemical property and / or a material quality. The measured variable is the physical variable to which the measurement by means of the sensor applies.

The or each transducer 1304a , 1304b can with at least one sensor of the sensor arrangement 1302 be coupled and set up to provide a measured value as an image of the detected measured variable of the at least one sensor. The provided measured values (clearly measured data) can be used as part of the training data of the evaluation component 1306 are fed. The measurement data can have specific values for the spatial information, for example about a movement (for example rotation and / or translation) in space, a position in space, and / or an orientation in space.

For example, different physical quantities can be recorded, for example a force which is caused by the movement or the change in an optical signal which is caused by the movement. For example, a camera can be used which records a stream of image data of the room in which the hand-held device is arranged, with the spatial information about the hand-held device being able to be determined on the basis of the image data. However, it can also be a distance between a reference point of the locating device, for example 112 (e.g. their location unit 112a) and the hand-held device, for example by means of radar, lidar or sonar. However, it is also possible, for example, to detect an orientation of the hand-held device by means of an inclination sensor of the hand-held device. However, it is also possible, for example, to use a photosensor of the hand-held device in order to detect a movement relative to an optical locating signal (for example an optical pattern). An inertial sensor of the hand-held device can, for example, detect the current state of movement of the hand-held device.

According to various embodiments, the components of the trajectory determination mechanism 1300 (e.g. sensors or transducers), be distributed over various components of the system. For example, the training device 302 (e.g. the handheld device 100 ) one or more than one sensor 802s (also referred to as a hand-held device-internal trajectory sensor) of the sensor arrangement 1302 and / or one or more than one transducer 1304a exhibit. Alternatively or additionally, the handheld device-external device (for example its locating device 112 ) one or more than one sensor 112s the sensor arrangement 1302 (also referred to as a hand-held device-external trajectory sensor) and / or one or more than one transducer 1304a exhibit. The evaluation component 1306 can for example be part of the data processing system 502 e.g. as a component of the application (e.g. as a processing component 1402a ) from the data processing system 502 be executed, or the data processing system 502 the determined training trajectory 111 to transfer.

The evaluation component 1306 can be set up on the basis of the supplied measurement data 1301 the training trajectory 111 to determine. The evaluation component 1306 be set up to relate the measurement data to one another, to interpret them, to take their origin into account, to take into account their connection with the spatial information via the hand-held device, etc. For example, results from measurement values from different sensors can be superimposed on one another, thus creating a more precise training trajectory 111 surrender. With knowledge of the link between the measured variable and the spatial information, the measured value can be mapped onto a value of the spatial information, for example onto a location coordinate and / or its change over time. The more sensors are used, the more precise the trajectory can be 111 be.

Optionally, the trajectory determination mechanism 1300 one or more than one handheld external location signal source 1308 exhibit. The or each location signal source 1308 can set up a location signal 1308s to emit, for example towards the hand-held device and / or at least into the room in which the hand-held device is arranged. Multiple location signals 1308s can, for example, be superimposed on one another (see, for example 7th ).

The locating signal 1308s can for example have an infrared signal (having light in the infrared range), an ultrasonic signal, a radio signal and / or a visible light signal (having light in the visible range). The ultrasonic signal can, for example, enable a high level of accuracy (for example when measuring the transit time). The infrared signal enables inexpensive implementation. Furthermore, no direct connection between transmitter and receiver is necessary for the infrared signal, since the infrared signal can reach the receiver through reflections. In this way it can at least be determined whether an infrared signal is present in a room. A transmitter identification can optionally be modulated onto an electromagnetic locating signal (for example light signal, radio signal, infrared signal), whereby various locating signal sources can be used 1303 can be distinguished on the basis of their location signal. In contrast to the infrared signal and visible light signal, a radio signal can penetrate walls and other obstacles, making reception easier. The light signal can even be detected with a technically less complex charge-coupled sensor. The or any location signal source 1308 can for example have a laser scanner.

By means of one or more than one location signal 1308s the spatial information can be determined, for example based on one or more than one of the following measurement mechanisms: range mechanism, transit time mechanism, transit time difference mechanism, angle of incidence mechanism, and / or signal strength mechanism. The or each location signal source 1308 can serve as a reference point for the measurement mechanism with knowledge of its position in space. For example, a geometric relation (for example distance, angle, etc.) with respect to the reference point can be determined and, based on this, the spatial information about the hand-held device. A position of the hand-held device can then be determined on the basis of a distance to one or more than one location signal source. Optionally, based on the respective distance between two sensors of the handheld device, its alignment with respect to a location signal source can also be determined.

With the range mechanism, any location signal source can 1308 a cell the size of the range of the location signal 1308s provide. The detected cell can, for example, be assigned to a location signal source and its position via the transmitter identification, the size of the cell being the distance from the sensor 802 from the location signal source 1308 limited upwards. In the case of the transit time mechanism, the time difference between the sending and receiving of the locating signal can be 1308s (also referred to as transit time) can be measured. The time difference can be assigned to a location signal source and its position, for example via the transmitter identification, and converted into a distance from this. With the transit time difference mechanism, the transit time of two location signals can be compared with one another and based on this the distance to the corresponding location signal sources can be determined. In the case of the angle of incidence mechanism, the angle of incidence of the location signal 1308s can be determined, which can be converted into an alignment, for example. For example, a position can also be determined on the basis of several angles of incidence. With the signal strength mechanism, the signal strength of the location signal can be converted into a distance to the location signal source.

As an alternative or in addition, the handheld device and / or its surroundings can be detected visually by means of the camera and the spatial information can be determined based on this. The data from various sensors (e.g. image data and position data or image data and acceleration data) can also be superimposed in order to improve the accuracy.

The or each location signal source 1308 can for example as part of a locating unit 112a , 112b be provided. The or each locating unit 112a , 112b can alternatively or additionally also at least one trajectory sensor 112s the hand-held device-external device (also as hand-held device-external trajectory sensor 112s designated).

As a result, the trajectory sensors 802s , 112s of the training device 302 and / or the location device 112 Time-based training data, for example at high frequency, is recorded and recorded, which describes the entire process activity.

Examples of a hand-held device-external trajectory sensor 112s indicate: a camera 112 , a distance sensor 112 , a sonar sensor 112 and / or a radar sensor 112 . Examples of a hand-held device-internal trajectory sensor 802s indicate: a camera 112 , a motion sensor (e.g. a rotation sensor, a speed sensor and / or an acceleration sensor), an inertial sensor, a position sensor (e.g. an orientation sensor and / or a position sensor), an infrared sensor, and / or an air pressure sensor. The position sensor can also have a GPS sensor, for example. The orientation sensor can for example have a gyro sensor, a gravity sensor and / or a magnetic field sensor (for example for determining the orientation in the earth's magnetic field). The air pressure sensor can, for example, enable information on a vertical position of the hand-held device 100 determine what will allow a more accurate triangulation to be performed.

Determining the training trajectory 111 can be done, for example: by means of laser tracking (e.g. in the infrared range and / or by means of an infrared laser), by means of optical tracking (e.g. by means of a camera and / or pattern recognition), by means of radar (e.g. by means of a radar transceiver), by means of ultrasound (e.g. by means of an ultrasound -Transceivers), by means of a global positioning system (GPS), by means of an inertial measuring unit (IMU) of the hand-held device. An IMU of the hand-held device can, for example, have several different inertial sensors, such as one or more than one acceleration sensor and / or one or more than one rotation rate sensor.

The training trajectory 111 can, for example, represent a spatial distribution of the place of work. The place of work can be that place in the room 701 , 703 , 705 indicate on which an effect of the process tool is to take place. For example, the place of work can be stationary with respect to the training device 302 (e.g. the coordinate system 711 ) be. For example, the place of work can be at the top of the training tool 210 be arranged and / or its position at least in each case of the training tool 210 of the training device 302 be or become dependent.

The system can, for example, be a model of the training device 302 have, which is the one on the handheld device 100 coupled training tool 214 (e.g. its type), where the model of the training device 302 when determining the training trajectory 111 can be taken into account. The model of the training device 302 can for example be a position of the working point in the coordinate system 711 of the training device 302 specify. Alternatively or additionally, the model of the training device 302 for example a position of the longitudinal direction 711a of the hand-held device in the coordinate system 711 of the training device 302 establish.

In one embodiment, the system has several separate location units 112a , 112b on, of which each locating unit is set up to emit a pulsed infrared signal as a locating signal. The or each pulsed infrared signal is detected by several separate optoelectronic sensors of the sensor section. The measurement data determined on the detected infrared signal are transmitted as training data to the stationary terminal together with data that represent one or more than one input on the training device (e.g. the input unit of the hand-held device and / or the interchangeable attachment). The stationary terminal determines the training trajectory and optionally a working point for each point of the training trajectory on the basis of the data and taking into account the interchangeable attachment of the training device. The working point is determined, for example, on the basis of the handling of the function of the interchangeable unit. The recording of the measurement data is started, for example, in response to the actuation of the input unit of the hand-held device.

In one embodiment, the hand-held device can determine which exchangeable attachment the training device has (also referred to as exchangeable attachment identification), i.e. the type of exchangeable attachment can be determined. The interchangeable unit is identified, for example, by means of RFID, e.g. by reading out a radio label on the interchangeable unit. The radio tag can, for example, have and / or transmit a stored interchangeable unit identifier, e.g. a number. The interchangeable attachment identification takes place alternatively or additionally by detecting a resistive resistance of the power supply connection, in which the several interchangeable attachments differ from one another. The interchangeable unit identification takes place alternatively or additionally by recording the function of the switching circuit of the interchangeable unit. Which interchangeable attachment the training device has can also be specified by means of a user input on the computer system. The result of the interchangeable attachment identification can be taken into account when determining the control model (e.g. the training trajectory).

In the following, various examples are described which relate to those described above and shown in the figures.

Example 1 is a hand-held device for training at least one movement and at least one activity of a machine (e.g. at least its end effector), the hand-held device comprising: a handle; an input unit (e.g., optional) configured to input activation information for activating the training of the machine; an (e.g., optional) output unit configured to output the activation information for activating the training of the machine to a device external to the hand-held device; and a (e.g. frontal) coupling structure for releasably coupling an interchangeable attachment which is set up in accordance with the at least one activity.

Example 2 is the hand-held device according to example 1 or 52, wherein the output unit is set up for wireless communication with the hand-held device-external device (e.g. according to a wireless communication protocol), e.g. has a wireless communication device for communicating with the hand-held device-external device.

Example 3 is the hand-held device according to Example 1 or 2, further comprising: a mechanical sensor which is set up to detect a mechanical action on the coupling structure, the output unit being set up to output action information about the detected mechanical action to the hand-held device-external Contraption.

Example 4 is the hand-held device according to Example 3, the mechanical sensor having a force sensor and / or a torque sensor.

Example 5 is the hand-held device according to one of Examples 1 to 4 or 52, furthermore having a battery and / or an energy supply connection which are set up, for example, to supply the output unit, the exchangeable attachment and / or the input unit with electrical energy, with optional the battery can be charged by means of the power supply connection.

Example 6 is the hand-held device according to one of Examples 1 to 5, which is also set up to identify the interchangeable attachment, for example the output unit being set up to transmit a result of the identification to a device external to the hand-held device; the hand-held device, for example, having a sensor which is set up to detect a (e.g., physical) property and / or (e.g., digital) signature of the interchangeable unit, the hand-held device, for example, having a processor that is set up based on the property or signature of the interchangeable unit to identify it (ie to recognize it among other interchangeable attachments).

Example 7 is the hand-held device according to one of Examples 1 to 6 or 52, the input unit being set up to record handling of the hand-held device when performing the activity.

Example 8 is the hand-held device according to one of Examples 1 to 7 or 52, the input unit having a switch.

Example 9 is the hand-held device according to one of Examples 1 to 8 or 52, further comprising: a feedback unit which is set up to output a feedback to a user of the hand-held device.

Example 10 is the hand-held device according to Example 9 or 52, the feedback having a haptic and / or optical signal.

Example 11 is the hand-held device according to one of Examples 1 to 10 or 52, further comprising: one or more than one first sensor which is set up to detect a (e.g. electromagnetic) hand-held device-external location signal; and / or one or more than one additional first sensor which is set up to detect spatial information via: a movement of the hand-held device in space, a position of the hand-held device in space, and / or an orientation of the hand-held device in space.

Example 12 is the hand-held device according to Example 11, wherein the one or more than one first sensor for detecting the location signal has at least one of the following sensors: an optoelectronic sensor (e.g. a lidar sensor, light sensor or infrared sensor); and / or a radio wave sensor (e.g., a radar sensor) for detecting the location signal; wherein the one or more than one additional first sensor comprises at least one of the following sensors: a motion sensor; a position sensor; and / or an air pressure sensor; wherein, for example, the hand-held device is set up to determine the spatial information on the basis of the location signal.

Example 13 is the hand-held device according to Example 12, the motion sensor having an acceleration sensor, rotation sensor and / or speed sensor; wherein the position sensor comprises an orientation sensor (e.g. tilt sensor and / or gyro sensor) and / or a position sensor; wherein the optoelectronic sensor has an infrared sensor.

Example 14 is the hand-held device according to one of Examples 1 to 13, further comprising: an end portion which is extended away from the handle, the end portion having the coupling structure, the coupling structure being arranged, for example, on an end face of the end portion; wherein, for example, the coupling structure is arranged on a side of the end section opposite the handle.

Example 15 is the hand-held device according to one of Examples 1 to 14, the coupling structure being set up to couple the interchangeable attachment in a form-fitting and / or force-fitting manner (e.g. by attaching it); and / or wherein the coupling structure is set up to magnetically couple the interchangeable attachment.

Example 16 is the hand-held device according to one of Examples 1 to 15 or 52, further comprising: an interface which is set up to implement a function together with a circuit of the interchangeable unit.

Example 17 is the hand-held device according to Example 16, the interface being set up to supply the circuit with electrical energy and / or to communicate with the circuit.

Example 18 is the hand-held device according to Example 17, the interface being set up to draw the electrical energy from a battery of the hand-held device.

Example 19 is the hand-held device according to one of Examples 15 to 18, wherein the interface is set up to communicate with the circuit in accordance with a wireless communication protocol.

Example 20 is the hand-held device according to one of Examples 1 to 19 or 52, wherein the wireless communication protocol (of the output unit and / or the interface) is according to one of NFC (near field communication), RFID (identification using electromagnetic waves), WLAN (wireless local Network), or Bluetooth, wherein, for example, the wireless communication protocol of the output unit is Bluetooth, wherein, for example, the wireless communication protocol of the interface is NFC.

Example 21 is the hand-held device according to one of Examples 15 to 20 or 52, wherein the interface is set up to communicate with the circuit according to a wired communication protocol.

Example 22 is the hand-held device according to Example 21, a carrier frequency technique being implemented in accordance with the wired communication protocol.

Example 23 is a system comprising: a hand-held device according to one of Examples 1 to 22 or according to Example 52; and the hand-held device-external device and / or the interchangeable attachment; For example, the hand-held device according to example 52 (e.g. front side) has one or more than one end section in the form of a tool (e.g. several mutually interchangeable tools) which represents the activity of the machine; the system optionally comprising: an additional device external to the hand-held device, comprising: an additional input unit (e.g. as an alternative to or in addition to the input unit of the hand-held device), set up to input activation information for activating the training of the machine; and an additional output unit (e.g. as an alternative or in addition to the output unit of the hand-held device), set up to output the activation information for activating the training of the machine (e.g. to the additional device-external device or devices).

Example 24 is the system according to Example 23, wherein, for example, the interchangeable attachment has one or more than one end section in the form of a tool (e.g. several mutually interchangeable tools) which represents the activity of the machine; wherein, for example, the interchangeable attachment has a lower weight than the hand-held device, wherein, for example, the interchangeable attachment has a lower electrical power consumption than the hand-held device, wherein, for example, the interchangeable attachment has a smaller size than the hand-held device, wherein, for example, the interchangeable attachment has a plastic and / or a light metal or is formed therefrom, wherein, for example, the tool has a plastic and / or a light metal or is formed therefrom.

Example 25 is the system according to Example 23 or 24, wherein the tool is in the form of: archetype tool, which represents archetype as an activity; Joining tool that represents joining as an activity; Relocation tool that represents relocation as an activity; Inspect tool, which represents optical inspection as an activity, or is disconnect tool, which represents separating as an activity.

Example 26 is the system according to Example 25, wherein the joining tool is a coating tool which represents coating as an activity.

Example 27 is the system according to one of Examples 23 to 26, further comprising: at least one additional interchangeable attachment (for detachable coupling with the coupling structure), the additional interchangeable attachment being set up according to another activity which differs from the activity.

Example 28 is the system according to Example 27, wherein the or each interchangeable unit and the or each additional interchangeable unit are set up in such a way (e.g. in pairs) that they can be interchanged, for example by uncoupling the interchangeable unit from the coupling structure and coupling the additional interchangeable unit on the coupling structure.

Example 29 is the system according to one of Examples 23 to 28, wherein the interchangeable attachment or the end section (e.g. the interchangeable attachment or the hand-held device) and / or the or each additional interchangeable attachment has a circuit which is set up to provide a function.

Example 30 is the system according to Example 29, wherein the circuit is set up to provide the function according to the activity.

Example 31 is the system of Example 29 or 30, wherein the circuit includes a sensor that implements the function.

Example 32 is the system according to any one of Examples 29 to 31, wherein the circuit comprises an actuator that implements the function.

Example 33 is the system according to any of Examples 29-32, wherein the circuit includes a radiation source that implements the function.

Example 34 is the system according to one of Examples 23 to 33, the device external to the hand-held device having a data processing system which is set up to determine control information for the machine based on the activation information and the activity.

Example 35 is the system according to Example 34, the data processing system being set up to take into account a detected mechanical effect on the tool, the coupling structure and / or the interchangeable attachment when determining the control information.

Example 36 is the system according to example 34 or 35, the data processing system being set up to take into account acquired and / or determined spatial information when determining the control information about: a movement of the hand-held device in space, a position of the hand-held device in space, and / or an orientation of the handset in space.

Example 37 is the system according to one of Examples 34 to 36, the data processing system being set up to take account of recorded handling of the hand-held device when determining the control information, the handling having, for example, an input on the input unit.

Example 38 is the system according to Example 37, the handling having at least one handling of a function that is provided by means of the interchangeable attachment or the tool.

Example 39 is the system according to Example 38, the handling having at least a spatial and / or temporal distribution.

Example 40 is the system according to one of Examples 34 to 39, wherein the data processing system has a communication interface which is set up in accordance with a communication protocol of the machine (e.g. its control device).

Example 41 is the system according to example 40, wherein the data processing system is set up to communicate with the machine by means of the communication interface (e.g. to transmit the control information or control commands to the machine by means of the communication interface), or the data processing system has a control device for controlling the machine (and is set up, for example, to receive and / or process the activation information).

Example 42 is the system according to example 40 or 41, further comprising: an optional fastening device which is configured to fasten the hand-held device to the machine, wherein the data processing system is further configured to carry out a calibration sequence (e.g. when the hand-held device is fastened to the machine ) by controlling the machine via the communication interface.

Example 43 is the system according to example 42, the calibration sequence having to update a stored model of the machine, for example on the basis of the acquired and / or determined spatial information when performing the calibration sequence.

Example 44 is the system according to one of Examples 23 to 43, the device external to the hand-held device having a location device which is set up to determine spatial information about: a movement of the hand-held device in space, a position of the hand-held device in space, and / or an orientation of the handset in the room control information; and / or is set up to emit a (e.g. electromagnetic) location signal, the location signal preferably being an optical signal (e.g. an infrared signal) and / or having a spatial pattern.

Example 45 is the system according to one of Examples 23 to 44, wherein the location device and / or the handheld device is set up to detect a change in the position and / or orientation of the handheld device that is smaller than a smallest spatial extent of the handheld device and / or than a millimeter.

Example 46 is the system according to Example 43 or 45, wherein the location device has one or more than one second sensor for detecting the spatial information; and / or wherein the locating device has one or more than one transmitter for transmitting the locating signal; and / or wherein the hand-held device is set up to determine the spatial information on the basis of the location signal (e.g. to determine the location).

Example 47 is the system according to Example 46, wherein the one or more than one second sensor has one of the following sensors: an optoelectronic sensor; an electromagnetic sensor; and / or an acoustic sensor; and / or wherein the one or more than one transmitter comprises one of the following transmitters: a laser (e.g. for providing lidar), e.g., an infrared laser, a radio wave transmitter (e.g. for providing radar), and / or an ultrasonic transmitter.

Example 48 is the system according to Example 47, the optoelectronic sensor having a camera or a lidar sensor; wherein the electromagnetic sensor comprises a radar sensor or a bearing sensor; wherein the acoustic sensor comprises a sonar sensor.

Example 49 is a system for training at least one movement and at least one activity of a machine (e.g. at least its end effector), the system comprising: a hand-held device (e.g. according to one of Examples 1 to 21), which has a handle and a (e.g. frontal) coupling structure for detachable coupling of an interchangeable attachment; the interchangeable unit (e.g. according to one of Examples 1 to 17), which is set up according to the at least one activity; a data processing system (e.g. according to one of Examples 1 to 17) which is set up to determine control information for the machine based on spatial information about the hand-held device and the activity.

Example 50 is a method (e.g. for training at least one movement and at least one activity of a machine), comprising: Acquiring spatial information of a hand-held device (e.g. the hand-held device according to one of Examples 1 to 21) when the activation information has been entered (e.g. in response to entering the activation information); Determining control information for the machine based on the spatial information (optionally a handling of the hand-held device) and the activity; wherein when spatial information is captured, a hand-held device is handled according to the at least one activity, the interchangeable attachment being coupled to a (e.g. frontal) coupling structure for releasably coupling an interchangeable attachment of the hand-held device, which is set up according to the at least one activity; whereby the control information of the machine is optionally provided (e.g. stored on it).

Example 51 is a non-volatile storage medium comprising code segments that, when executed by a processor, are configured to perform the method according to Example 50.

Example 52 is a hand-held device for training at least one movement and at least one activity of a machine (e.g. at least its end effector), the hand-held device comprising: a handle; an input unit configured to input activation information for activating the training of the machine; an output unit configured to output the activation information for activating the training of the machine to a device external to the hand-held device; and a tool (e.g. attached to the end face and / or firmly bonded) that is set up according to the at least one activity.

Claims (25)

Hand-held device (100) for training at least one movement and at least one activity of a machine (114), the hand-held device (100) having: • a handle (104); • an input unit (108) configured to input activation information for activating the training of the machine (114); • an output unit (110) configured to output the activation information for activating the training of the machine (114) to a device external to the hand-held device; • a coupling structure (102) for releasably coupling an interchangeable attachment (210) which is set up according to the at least one activity; and A control device which is set up to determine spatial information by means of a sensor of the hand-held device (100). Hand device (100) according to Claim 1 wherein the output unit (110) comprises a wireless communication device for communicating with the hand-held device-external device. Hand device (100) according to Claim 1 or 2 , further comprising a battery (1704). Hand-held device (100) according to one of the Claims 1 to 3 , wherein the input unit (108) is set up to record handling of the hand-held device (100) while the activity is being carried out. Hand-held device (100) according to one of the Claims 1 to 4th , further comprising: a feedback unit (822, 824) which is set up to output feedback to a user of the hand-held device (100). Hand-held device (100) according to one of the Claims 1 to 5 , further comprising: one or more than one first sensor (802s) which is configured to detect an electromagnetic location signal. Hand device (100) according to Claim 5 wherein the one or more than one first sensor has an optoelectronic sensor (802s) for detecting the location signal. Hand-held device (100) according to one of the Claims 1 to 7th , further comprising: one or more than one additional first sensor (802s) which is set up to detect spatial information about: a movement of the hand-held device (100) in space, a position of the hand-held device (100) in space, and / or • an orientation of the hand-held device (100) in space. Hand device (100) according to Claim 8 , wherein the one or more than one additional first sensor (802s) has a motion sensor and / or a position sensor. Hand-held device (100) according to one of the Claims 1 to 9 , wherein the coupling structure (102) is set up to couple the interchangeable attachment (210) in a form-fitting manner. Hand-held device (100) according to one of the Claims 1 to 10 , further comprising: an interface (842a, 843) which is set up to implement a function together with a circuit (852) of the interchangeable unit (210). Hand device (100) according to Claim 11 , wherein the interface (842a, 843) is set up to supply the circuit with electrical energy and / or to communicate with the circuit. Hand-held device (100) according to one of the Claims 1 to 12th , wherein the coupling structure (102) is arranged on the front side of the hand-held device (100). System (200, 700, 800, 1200), comprising: a hand-held device (100) according to one of the Claims 1 to 13th , and; • the device external to the hand-held device and / or the interchangeable unit (210). System (200, 700, 800, 1200) according to Claim 14 wherein the interchangeable attachment (210) has an end section in the form of a tool (214) which represents the activity of the machine (114). System (200, 700, 800, 1200) according to Claim 14 or 15th , further comprising: at least one additional interchangeable unit (210a to 210g), wherein the additional interchangeable unit is set up according to another activity that differs from the activity, and wherein the additional interchangeable unit (210a to 210g) and the interchangeable unit (210) are set up in such a way to one another are that these can be exchanged for each other. System (200, 700, 800, 1200) according to one of the Claims 14 to 16 , wherein the interchangeable attachment (210) has a circuit (852) which is set up to provide a function. System (200, 700, 800, 1200) according to one of the Claims 14 to 17th , wherein the device external to the hand-held device has a data processing system (502) which is set up to determine control information for the machine (114) based on the activation information and on the activity. System (200, 700, 800, 1200) according to Claim 18 wherein the data processing system (502) has a communication interface which is set up in accordance with a communication protocol of the machine (114); and wherein the data processing system is set up to communicate with the machine by means of the communication interface. System (200, 700, 800, 1200) according to Claim 19 , wherein the data processing system (502) is set up to transmit the control information to the machine (114) by means of the communication interface. System (200, 700, 800, 1200) according to Claim 19 or 20th , wherein the data processing system (502) is further set up to carry out a calibration sequence in that the machine (114) is controlled by means of the communication interface. System (200, 700, 800, 1200) according to one of the Claims 14 to 21 , wherein the device-external to the hand-held device has a locating device (112) which is set up to transmit an electromagnetic locating signal. Non-volatile storage medium, having code segments which, when executed by a processor, are set up to carry out the following: • Acquiring spatial information of the hand-held device (100) in accordance with one of the Claims 1 to 13th when the activation information has been entered; • Determining control information for the machine (114) based on the spatial information and the activity. Hand-held device (100) for training at least one movement and at least one activity of a machine (114), the hand-held device (100) having: • a handle (104); • an input unit (108) configured to input activation information for activating the training of the machine (114); • an output unit (110) configured to output the activation information for activating the training of the machine (114) to a device external to the hand-held device; • a tool that is set up according to the at least one activity; and A control device which is set up to determine spatial information by means of a sensor of the hand-held device (100). A system (200, 700, 800, 1200) for training at least one movement and at least one activity of a machine, comprising: a hand-held device (100) (114), comprising: a handle (104); • a tool or a coupling structure (102) for releasably coupling an interchangeable attachment (210), the tool or the interchangeable attachment (210) being set up according to the at least one activity; and • a control device which is set up to determine spatial information by means of a sensor of the hand-held device (100); a device external to the hand-held device, comprising: An input unit configured to input activation information for activating the training of the machine; and • an output unit (110) configured to output the activation information for activating the training of the machine (114).

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